diff options
| author | Benoit Bolsee <benoit.bolsee@online.be> | 2008-07-04 12:14:50 +0400 |
|---|---|---|
| committer | Benoit Bolsee <benoit.bolsee@online.be> | 2008-07-04 12:14:50 +0400 |
| commit | 70d239ef7d2eb3d3c92fc4f1441f4a41815370cb (patch) | |
| tree | 2e2ff8e027fe1c15eb55911dbc4055e21c318cef | |
| parent | bd74679a397efa82ac81386bf8da5877bd32dded (diff) | |
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor.
General
=======
- Removal of Damp option in motion actuator (replaced by
Servo control motion).
- No PyDoc at present, will be added soon.
Generalization of the Lvl option
================================
A sensor with the Lvl option selected will always produce an
event at the start of the game or when entering a state or at
object creation. The event will be positive or negative
depending of the sensor condition. A negative pulse makes
sense when used with a NAND controller: it will be converted
into an actuator activation.
Servo control motion
====================
A new variant of the motion actuator allows to control speed
with force. The control if of type "PID" (Propotional, Integral,
Derivate): the force is automatically adapted to achieve the
target speed. All the parameters of the servo controller are
configurable. The result is a great variety of motion style:
anysotropic friction, flying, sliding, pseudo Dloc...
This actuator should be used in preference to Dloc and LinV
as it produces more fluid movements and avoids the collision
problem with Dloc.
LinV : target speed as (X,Y,Z) vector in local or world
coordinates (mostly useful in local coordinates).
Limit: the force can be limited along each axis (in the same
coordinates of LinV). No limitation means that the force
will grow as large as necessary to achieve the target
speed along that axis. Set a max value to limit the
accelaration along an axis (slow start) and set a min
value (negative) to limit the brake force.
P: Proportional coefficient of servo controller, don't set
directly unless you know what you're doing.
I: Integral coefficient of servo controller. Use low value
(<0.1) for slow reaction (sliding), high values (>0.5)
for hard control. The P coefficient will be automatically
set to 60 times the I coefficient (a reasonable value).
D: Derivate coefficient. Leave to 0 unless you know what
you're doing. High values create instability.
Notes: - This actuator works perfectly in zero friction
environment: the PID controller will simulate friction
by applying force as needed.
- This actuator is compatible with simple Drot motion
actuator but not with LinV and Dloc motion.
- (0,0,0) is a valid target speed.
- All parameters are accessible through Python.
Distance constraint actuator
============================
A new variant of the constraint actuator allows to set the
distance and orientation relative to a surface. The controller
uses a ray to detect the surface (or any object) and adapt the
distance and orientation parallel to the surface.
Damp: Time constant (in nb of frames) of distance and
orientation control.
Dist: Select to enable distance control and set target
distance. The object will be position at the given
distance of surface along the ray direction.
Direction: chose a local axis as the ray direction.
Range: length of ray. Objecgt within this distance will be
detected.
N : Select to enable orientation control. The actuator will
change the orientation and the location of the object
so that it is parallel to the surface at the vertical
of the point of contact of the ray.
M/P : Select to enable material detection. Default is property
detection.
Property/Material: name of property/material that the target of
ray must have to be detected. If not set, property/
material filter is disabled and any collisioning object
within range will be detected.
PER : Select to enable persistent operation. Normally the
actuator disables itself automatically if the ray does
not reach a valid target.
time : Maximum activation time of actuator.
0 : unlimited.
>0: number of frames before automatic deactivation.
rotDamp: Time constant (in nb of frame) of orientation control.
0 : use Damp parameter.
>0: use a different time constant for orientation.
Notes: - If neither N nor Dist options are set, the actuator
does not change the position and orientation of the
object; it works as a ray sensor.
- The ray has no "X-ray" capability: if the first object
hit does not have the required property/material, it
returns no hit and the actuator disables itself unless
PER option is enabled.
- This actuator changes the position and orientation but
not the speed of the object. This has an important
implication in a gravity environment: the gravity will
cause the speed to increase although the object seems
to stay still (it is repositioned at each frame).
The gravity must be compensated in one way or another.
the new servo control motion actuator is the simplest
way: set the target speed along the ray axis to 0
and the servo control will automatically compensate
the gravity.
- This actuator changes the orientation of the object
and will conflict with Drot motion unless it is
placed BEFORE the Drot motion actuator (the order of
actuator is important)
- All parameters are accessible through Python.
Orientation constraint
======================
A new variant of the constraint actuator allows to align an
object axis along a global direction.
Damp : Time constant (in nb of frames) of orientation control.
X,Y,Z: Global coordinates of reference direction.
time : Maximum activation time of actuator.
0 : unlimited.
>0: number of frames before automatic deactivation.
Notes: - (X,Y,Z) = (0,0,0) is not a valid direction
- This actuator changes the orientation of the object
and will conflict with Drot motion unless it is placed
BEFORE the Drot motion actuator (the order of
actuator is important).
- This actuator doesn't change the location and speed.
It is compatible with gravity.
- All parameters are accessible through Python.
Actuator sensor
===============
This sensor detects the activation and deactivation of actuators
of the same object. The sensor generates a positive pulse when
the corresponding sensor is activated and a negative pulse when
it is deactivated (the contrary if the Inv option is selected).
This is mostly useful to chain actions and to detect the loss of
contact of the distance motion actuator.
Notes: - Actuators are disabled at the start of the game; if you
want to detect the On-Off transition of an actuator
after it has been activated at least once, unselect the
Lvl and Inv options and use a NAND controller.
- Some actuators deactivates themselves immediately after
being activated. The sensor detects this situation as
an On-Off transition.
- The actuator name can be set through Python.
35 files changed, 1738 insertions, 368 deletions
diff --git a/projectfiles_vc7/blender/render/BRE_render.vcproj b/projectfiles_vc7/blender/render/BRE_render.vcproj index 4869dd606f1..4331d6e1579 100644 --- a/projectfiles_vc7/blender/render/BRE_render.vcproj +++ b/projectfiles_vc7/blender/render/BRE_render.vcproj @@ -74,7 +74,7 @@ Name="VCCLCompilerTool" Optimization="0" AdditionalIncludeDirectories="..\..\..\..\lib\windows\sdl\include;..\..\..\..\build\msvc_7\intern\guardedalloc\include;..\..\..\source\blender;..\..\..\source\blender\misc;..\..\..\source\blender\imbuf;..\..\..\source\blender\yafray;..\..\..\source\blender\blenlib;..\..\..\source\blender\include;..\..\..\source\blender\python;..\..\..\source\blender\blenkernel;..\..\..\source\blender\quicktime;..\..\..\source\blender\blenloader;..\..\..\source\blender\makesdna;..\..\..\source\blender\radiosity\extern\include;..\..\..\source\blender\render\intern\include;..\..\..\source\blender\render\extern\include;..\..\..\source\kernel;..\..\..\source\kernel\gen_messaging" - PreprocessorDefinitions="_DEBUG;WIN32;_LIB;WITH_QUICKTIME;WITH_OPENEXR" + PreprocessorDefinitions="_DEBUG;WIN32;_LIB;WITH_QUICKTIME;WITH_OPENEXR;_USE_MATH_DEFINES" BasicRuntimeChecks="3" RuntimeLibrary="1" DefaultCharIsUnsigned="TRUE" @@ -176,6 +176,9 @@ RelativePath="..\..\..\source\blender\render\intern\source\strand.c"> </File> <File + RelativePath="..\..\..\source\blender\render\intern\source\sunsky.c"> + </File> + <File RelativePath="..\..\..\source\blender\render\intern\source\texture.c"> </File> <File @@ -246,6 +249,9 @@ RelativePath="..\..\..\source\blender\render\intern\include\strand.h"> </File> <File + RelativePath="..\..\..\source\blender\render\intern\include\sunsky.h"> + </File> + <File RelativePath="..\..\..\source\blender\render\intern\include\texture.h"> </File> <File diff --git a/projectfiles_vc7/gameengine/gamelogic/SCA_GameLogic.vcproj b/projectfiles_vc7/gameengine/gamelogic/SCA_GameLogic.vcproj index e0405b4d7c7..7e2db4f564f 100644 --- a/projectfiles_vc7/gameengine/gamelogic/SCA_GameLogic.vcproj +++ b/projectfiles_vc7/gameengine/gamelogic/SCA_GameLogic.vcproj @@ -333,6 +333,12 @@ RelativePath="..\..\..\source\gameengine\GameLogic\SCA_2DFilterActuator.cpp"> </File> <File + RelativePath="..\..\..\source\gameengine\GameLogic\SCA_ActuatorEventManager.cpp"> + </File> + <File + RelativePath="..\..\..\source\gameengine\GameLogic\SCA_ActuatorSensor.cpp"> + </File> + <File RelativePath="..\..\..\source\gameengine\GameLogic\SCA_AlwaysEventManager.cpp"> </File> <File @@ -445,6 +451,12 @@ RelativePath="..\..\..\source\gameengine\GameLogic\SCA_2DFilterActuator.h"> </File> <File + RelativePath="..\..\..\source\gameengine\GameLogic\SCA_ActuatorEventManager.h"> + </File> + <File + RelativePath="..\..\..\source\gameengine\GameLogic\SCA_ActuatorSensor.h"> + </File> + <File RelativePath="..\..\..\source\gameengine\GameLogic\SCA_AlwaysEventManager.h"> </File> <File diff --git a/source/blender/blenkernel/intern/sca.c b/source/blender/blenkernel/intern/sca.c index 16ca5d7542d..fcf1c7ce311 100644 --- a/source/blender/blenkernel/intern/sca.c +++ b/source/blender/blenkernel/intern/sca.c @@ -150,6 +150,9 @@ void init_sensor(bSensor *sens) case SENS_PROPERTY: sens->data= MEM_callocN(sizeof(bPropertySensor), "propsens"); break; + case SENS_ACTUATOR: + sens->data= MEM_callocN(sizeof(bActuatorSensor), "actsens"); + break; case SENS_MOUSE: ms=sens->data= MEM_callocN(sizeof(bMouseSensor), "mousesens"); ms->type= LEFTMOUSE; diff --git a/source/blender/blenloader/intern/writefile.c b/source/blender/blenloader/intern/writefile.c index 9f28e13ff7b..ca91f1dc346 100644 --- a/source/blender/blenloader/intern/writefile.c +++ b/source/blender/blenloader/intern/writefile.c @@ -603,6 +603,9 @@ static void write_sensors(WriteData *wd, ListBase *lb) case SENS_PROPERTY: writestruct(wd, DATA, "bPropertySensor", 1, sens->data); break; + case SENS_ACTUATOR: + writestruct(wd, DATA, "bActuatorSensor", 1, sens->data); + break; case SENS_COLLISION: writestruct(wd, DATA, "bCollisionSensor", 1, sens->data); break; diff --git a/source/blender/makesdna/DNA_actuator_types.h b/source/blender/makesdna/DNA_actuator_types.h index 51f03a676e4..3cf80a4efa6 100644 --- a/source/blender/makesdna/DNA_actuator_types.h +++ b/source/blender/makesdna/DNA_actuator_types.h @@ -98,8 +98,8 @@ typedef struct bPropertyActuator { } bPropertyActuator; typedef struct bObjectActuator { - short flag, type; - int damping; + short flag, type, otype; + short damping; float forceloc[3], forcerot[3]; float loc[3], rot[3]; float dloc[3], drot[3]; @@ -124,10 +124,13 @@ typedef struct bCameraActuator { } bCameraActuator ; typedef struct bConstraintActuator { + short type, mode; short flag, damp; - float slow; + short time, rotdamp; + int pad; float minloc[3], maxloc[3]; float minrot[3], maxrot[3]; + char matprop[32]; } bConstraintActuator; typedef struct bGroupActuator { @@ -249,20 +252,19 @@ typedef struct FreeCamera { /* objectactuator->flag */ #define ACT_FORCE_LOCAL 1 #define ACT_TORQUE_LOCAL 2 +#define ACT_SERVO_LIMIT_X 2 #define ACT_DLOC_LOCAL 4 +#define ACT_SERVO_LIMIT_Y 4 #define ACT_DROT_LOCAL 8 +#define ACT_SERVO_LIMIT_Z 8 #define ACT_LIN_VEL_LOCAL 16 #define ACT_ANG_VEL_LOCAL 32 //#define ACT_ADD_LIN_VEL_LOCAL 64 #define ACT_ADD_LIN_VEL 64 -#define ACT_CLAMP_VEL 128 -#define ACT_OBJECT_FORCE 0 -#define ACT_OBJECT_TORQUE 1 -#define ACT_OBJECT_DLOC 2 -#define ACT_OBJECT_DROT 3 -#define ACT_OBJECT_LINV 4 -#define ACT_OBJECT_ANGV 5 +/* objectactuator->type */ +#define ACT_OBJECT_NORMAL 0 +#define ACT_OBJECT_SERVO 1 /* actuator->type */ #define ACT_OBJECT 0 @@ -358,6 +360,22 @@ typedef struct FreeCamera { #define ACT_CONST_ROTX 8 #define ACT_CONST_ROTY 16 #define ACT_CONST_ROTZ 32 +#define ACT_CONST_NORMAL 64 +#define ACT_CONST_MATERIAL 128 +#define ACT_CONST_PERMANENT 256 +#define ACT_CONST_DISTANCE 512 +/* constraint mode */ +#define ACT_CONST_DIRPX 1 +#define ACT_CONST_DIRPY 2 +#define ACT_CONST_DIRPZ 4 +#define ACT_CONST_DIRMX 8 +#define ACT_CONST_DIRMY 16 +#define ACT_CONST_DIRMZ 32 + +/* constraint type */ +#define ACT_CONST_TYPE_LOC 0 +#define ACT_CONST_TYPE_DIST 1 +#define ACT_CONST_TYPE_ORI 2 /* editObjectActuator->type */ #define ACT_EDOB_ADD_OBJECT 0 diff --git a/source/blender/makesdna/DNA_sensor_types.h b/source/blender/makesdna/DNA_sensor_types.h index ae7b92bb06c..c0306f43730 100644 --- a/source/blender/makesdna/DNA_sensor_types.h +++ b/source/blender/makesdna/DNA_sensor_types.h @@ -82,6 +82,12 @@ typedef struct bPropertySensor { char maxvalue[32]; } bPropertySensor; +typedef struct bActuatorSensor { + int type; + int pad; + char name[32]; +} bActuatorSensor; + typedef struct bCollisionSensor { char name[32]; /* property name */ char materialName[32]; /* material */ @@ -197,6 +203,7 @@ typedef struct bJoystickSensor { #define SENS_RAY 9 #define SENS_MESSAGE 10 #define SENS_JOYSTICK 11 +#define SENS_ACTUATOR 12 /* sensor->flag */ #define SENS_SHOW 1 #define SENS_DEL 2 diff --git a/source/blender/render/intern/source/convertblender.c b/source/blender/render/intern/source/convertblender.c index daee892ad9a..f9ec0e9d843 100644 --- a/source/blender/render/intern/source/convertblender.c +++ b/source/blender/render/intern/source/convertblender.c @@ -114,6 +114,7 @@ #include "sss.h" #include "strand.h" #include "zbuf.h" +#include "sunsky.h" #ifndef DISABLE_YAFRAY /* disable yafray */ diff --git a/source/blender/src/buttons_logic.c b/source/blender/src/buttons_logic.c index 5065ba1fc2a..be8483b7e04 100644 --- a/source/blender/src/buttons_logic.c +++ b/source/blender/src/buttons_logic.c @@ -681,6 +681,8 @@ static char *sensor_name(int type) return "Keyboard"; case SENS_PROPERTY: return "Property"; + case SENS_ACTUATOR: + return "Actuator"; case SENS_MOUSE: return "Mouse"; case SENS_COLLISION: @@ -704,7 +706,7 @@ static char *sensor_pup(void) /* the number needs to match defines in game.h */ return "Sensors %t|Always %x0|Keyboard %x3|Mouse %x5|" "Touch %x1|Collision %x6|Near %x2|Radar %x7|" - "Property %x4|Random %x8|Ray %x9|Message %x10|Joystick %x11"; + "Property %x4|Random %x8|Ray %x9|Message %x10|Joystick %x11|Actuator %x12"; } static char *controller_name(int type) @@ -1003,6 +1005,7 @@ static int get_col_sensor(int type) case SENS_NEAR: return TH_BUT_SETTING1; case SENS_KEYBOARD: return TH_BUT_SETTING2; case SENS_PROPERTY: return TH_BUT_NUM; + case SENS_ACTUATOR: return TH_BUT_NUM; case SENS_MOUSE: return TH_BUT_TEXTFIELD; case SENS_RADAR: return TH_BUT_POPUP; case SENS_RANDOM: return TH_BUT_NEUTRAL; @@ -1067,6 +1070,7 @@ static short draw_sensorbuttons(bSensor *sens, uiBlock *block, short xco, short bRaySensor *raySens = NULL; bMessageSensor *mes = NULL; bJoystickSensor *joy = NULL; + bActuatorSensor *as = NULL; short ysize; char *str; @@ -1277,6 +1281,22 @@ static short draw_sensorbuttons(bSensor *sens, uiBlock *block, short xco, short yco-= ysize; break; } + case SENS_ACTUATOR: + { + ysize= 48; + + glRects(xco, yco-ysize, xco+width, yco); + uiEmboss((float)xco, (float)yco-ysize, + (float)xco+width, (float)yco, 1); + + draw_default_sensor_header(sens, block, xco, yco, width); + as= sens->data; + + uiDefBut(block, TEX, 1, "Act: ", xco+30,yco-44,width-60, 19, + as->name, 0, 31, 0, 0, "Actuator name, actuator active state modifications will be detected"); + yco-= ysize; + break; + } case SENS_MOUSE: { ms= sens->data; @@ -1537,6 +1557,37 @@ static void set_col_actuator(int item, int medium) } +static void change_object_actuator(void *act, void *arg) +{ + bObjectActuator *oa = act; + int i; + + if (oa->type != oa->otype) { + switch (oa->type) { + case ACT_OBJECT_NORMAL: + memset(oa, 0, sizeof(bObjectActuator)); + oa->flag = ACT_FORCE_LOCAL|ACT_TORQUE_LOCAL|ACT_DLOC_LOCAL|ACT_DROT_LOCAL; + oa->type = ACT_OBJECT_NORMAL; + break; + + case ACT_OBJECT_SERVO: + memset(oa, 0, sizeof(bObjectActuator)); + oa->flag = ACT_LIN_VEL_LOCAL; + oa->type = ACT_OBJECT_SERVO; + oa->forcerot[0] = 30.0f; + oa->forcerot[1] = 0.5f; + oa->forcerot[2] = 0.0f; + break; + } + } +} + +void update_object_actuator_PID(void *act, void *arg) +{ + bObjectActuator *oa = act; + oa->forcerot[0] = 60.0f*oa->forcerot[1]; +} + char *get_state_name(Object *ob, short bit) { bController *cont; @@ -1578,6 +1629,7 @@ static short draw_actuatorbuttons(Object *ob, bActuator *act, uiBlock *block, sh short ysize = 0, wval; char *str; int myline, stbit; + uiBut *but; /* yco is at the top of the rect, draw downwards */ uiBlockSetEmboss(block, UI_EMBOSSM); @@ -1587,57 +1639,100 @@ static short draw_actuatorbuttons(Object *ob, bActuator *act, uiBlock *block, sh { case ACT_OBJECT: { - ysize= 152; - - glRects(xco, yco-ysize, xco+width, yco); - uiEmboss((float)xco, (float)yco-ysize, (float)xco+width, (float)yco, 1); - oa = act->data; wval = (width-100)/3; - - uiDefBut(block, LABEL, 0, "Force", xco, yco-22, 55, 19, NULL, 0, 0, 0, 0, "Sets the force"); - uiDefButF(block, NUM, 0, "", xco+45, yco-22, wval, 19, oa->forceloc, -10000.0, 10000.0, 10, 0, ""); - uiDefButF(block, NUM, 0, "", xco+45+wval, yco-22, wval, 19, oa->forceloc+1, -10000.0, 10000.0, 10, 0, ""); - uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-22, wval, 19, oa->forceloc+2, -10000.0, 10000.0, 10, 0, ""); - - uiDefBut(block, LABEL, 0, "Torque", xco, yco-41, 55, 19, NULL, 0, 0, 0, 0, "Sets the torque"); - uiDefButF(block, NUM, 0, "", xco+45, yco-41, wval, 19, oa->forcerot, -10000.0, 10000.0, 10, 0, ""); - uiDefButF(block, NUM, 0, "", xco+45+wval, yco-41, wval, 19, oa->forcerot+1, -10000.0, 10000.0, 10, 0, ""); - uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-41, wval, 19, oa->forcerot+2, -10000.0, 10000.0, 10, 0, ""); - - uiDefBut(block, LABEL, 0, "dLoc", xco, yco-64, 45, 19, NULL, 0, 0, 0, 0, "Sets the dLoc"); - uiDefButF(block, NUM, 0, "", xco+45, yco-64, wval, 19, oa->dloc, -10000.0, 10000.0, 10, 0, ""); - uiDefButF(block, NUM, 0, "", xco+45+wval, yco-64, wval, 19, oa->dloc+1, -10000.0, 10000.0, 10, 0, ""); - uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-64, wval, 19, oa->dloc+2, -10000.0, 10000.0, 10, 0, ""); - - uiDefBut(block, LABEL, 0, "dRot", xco, yco-83, 45, 19, NULL, 0, 0, 0, 0, "Sets the dRot"); - uiDefButF(block, NUM, 0, "", xco+45, yco-83, wval, 19, oa->drot, -10000.0, 10000.0, 10, 0, ""); - uiDefButF(block, NUM, 0, "", xco+45+wval, yco-83, wval, 19, oa->drot+1, -10000.0, 10000.0, 10, 0, ""); - uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-83, wval, 19, oa->drot+2, -10000.0, 10000.0, 10, 0, ""); - - uiDefBut(block, LABEL, 0, "linV", xco, yco-106, 45, 19, NULL, 0, 0, 0, 0, "Sets the linear velocity"); - uiDefButF(block, NUM, 0, "", xco+45, yco-106, wval, 19, oa->linearvelocity, -10000.0, 10000.0, 10, 0, ""); - uiDefButF(block, NUM, 0, "", xco+45+wval, yco-106, wval, 19, oa->linearvelocity+1, -10000.0, 10000.0, 10, 0, ""); - uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-106, wval, 19, oa->linearvelocity+2, -10000.0, 10000.0, 10, 0, ""); - - uiDefBut(block, LABEL, 0, "angV", xco, yco-125, 45, 19, NULL, 0, 0, 0, 0, "Sets the angular velocity"); - uiDefButF(block, NUM, 0, "", xco+45, yco-125, wval, 19, oa->angularvelocity, -10000.0, 10000.0, 10, 0, ""); - uiDefButF(block, NUM, 0, "", xco+45+wval, yco-125, wval, 19, oa->angularvelocity+1, -10000.0, 10000.0, 10, 0, ""); - uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-125, wval, 19, oa->angularvelocity+2, -10000.0, 10000.0, 10, 0, ""); - - uiDefBut(block, LABEL, 0, "damp", xco, yco-148, 45, 19, NULL, 0, 0, 0, 0, "Number of frames to reach the target velocity"); - uiDefButI(block, NUM, 0, "", xco+45, yco-148, wval, 19, &oa->damping, 0.0, 1000.0, 100, 0, ""); - uiDefButBitS(block, TOG, ACT_CLAMP_VEL, 0, "clamp",xco+45+wval, yco-148, wval, 19, &oa->flag, 0.0, 0.0, 0, 0, "Toggles between SET and CLAMP Velocity"); - - uiDefButBitS(block, TOG, ACT_FORCE_LOCAL, 0, "L", xco+45+3*wval, yco-22, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Local transformation"); - uiDefButBitS(block, TOG, ACT_TORQUE_LOCAL, 0, "L", xco+45+3*wval, yco-41, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Local transformation"); - uiDefButBitS(block, TOG, ACT_DLOC_LOCAL, 0, "L", xco+45+3*wval, yco-64, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Local transformation"); - uiDefButBitS(block, TOG, ACT_DROT_LOCAL, 0, "L", xco+45+3*wval, yco-83, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Local transformation"); - uiDefButBitS(block, TOG, ACT_LIN_VEL_LOCAL, 0, "L", xco+45+3*wval, yco-106, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Local transformation"); - uiDefButBitS(block, TOG, ACT_ANG_VEL_LOCAL, 0, "L", xco+45+3*wval, yco-125, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Local transformation"); - - uiDefButBitS(block, TOG, ACT_ADD_LIN_VEL, 0, "add",xco+45+3*wval+15, yco-106, 35, 19, &oa->flag, 0.0, 0.0, 0, 0, "Toggles between ADD and SET linV"); - + if (oa->type == ACT_OBJECT_NORMAL) + { + ysize= 175; + + glRects(xco, yco-ysize, xco+width, yco); + uiEmboss((float)xco, (float)yco-ysize, (float)xco+width, (float)yco, 1); + + uiDefBut(block, LABEL, 0, "Force", xco, yco-45, 55, 19, NULL, 0, 0, 0, 0, "Sets the force"); + uiDefButF(block, NUM, 0, "", xco+45, yco-45, wval, 19, oa->forceloc, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+wval, yco-45, wval, 19, oa->forceloc+1, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-45, wval, 19, oa->forceloc+2, -10000.0, 10000.0, 10, 0, ""); + + uiDefBut(block, LABEL, 0, "Torque", xco, yco-64, 55, 19, NULL, 0, 0, 0, 0, "Sets the torque"); + uiDefButF(block, NUM, 0, "", xco+45, yco-64, wval, 19, oa->forcerot, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+wval, yco-64, wval, 19, oa->forcerot+1, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-64, wval, 19, oa->forcerot+2, -10000.0, 10000.0, 10, 0, ""); + + uiDefBut(block, LABEL, 0, "dLoc", xco, yco-87, 45, 19, NULL, 0, 0, 0, 0, "Sets the dLoc"); + uiDefButF(block, NUM, 0, "", xco+45, yco-87, wval, 19, oa->dloc, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+wval, yco-87, wval, 19, oa->dloc+1, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-87, wval, 19, oa->dloc+2, -10000.0, 10000.0, 10, 0, ""); + + uiDefBut(block, LABEL, 0, "dRot", xco, yco-106, 45, 19, NULL, 0, 0, 0, 0, "Sets the dRot"); + uiDefButF(block, NUM, 0, "", xco+45, yco-106, wval, 19, oa->drot, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+wval, yco-106, wval, 19, oa->drot+1, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-106, wval, 19, oa->drot+2, -10000.0, 10000.0, 10, 0, ""); + + uiDefBut(block, LABEL, 0, "linV", xco, yco-129, 45, 19, NULL, 0, 0, 0, 0, "Sets the linear velocity"); + uiDefButF(block, NUM, 0, "", xco+45, yco-129, wval, 19, oa->linearvelocity, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+wval, yco-129, wval, 19, oa->linearvelocity+1, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-129, wval, 19, oa->linearvelocity+2, -10000.0, 10000.0, 10, 0, ""); + + uiDefBut(block, LABEL, 0, "angV", xco, yco-148, 45, 19, NULL, 0, 0, 0, 0, "Sets the angular velocity"); + uiDefButF(block, NUM, 0, "", xco+45, yco-148, wval, 19, oa->angularvelocity, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+wval, yco-148, wval, 19, oa->angularvelocity+1, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-148, wval, 19, oa->angularvelocity+2, -10000.0, 10000.0, 10, 0, ""); + + uiDefBut(block, LABEL, 0, "damp", xco, yco-171, 45, 19, NULL, 0, 0, 0, 0, "Number of frames to reach the target velocity"); + uiDefButI(block, NUM, 0, "", xco+45, yco-171, wval, 19, &oa->damping, 0.0, 1000.0, 100, 0, ""); + + uiDefButBitS(block, TOG, ACT_FORCE_LOCAL, 0, "L", xco+45+3*wval, yco-45, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Local transformation"); + uiDefButBitS(block, TOG, ACT_TORQUE_LOCAL, 0, "L", xco+45+3*wval, yco-64, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Local transformation"); + uiDefButBitS(block, TOG, ACT_DLOC_LOCAL, 0, "L", xco+45+3*wval, yco-87, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Local transformation"); + uiDefButBitS(block, TOG, ACT_DROT_LOCAL, 0, "L", xco+45+3*wval, yco-106, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Local transformation"); + uiDefButBitS(block, TOG, ACT_LIN_VEL_LOCAL, 0, "L", xco+45+3*wval, yco-129, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Local transformation"); + uiDefButBitS(block, TOG, ACT_ANG_VEL_LOCAL, 0, "L", xco+45+3*wval, yco-148, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Local transformation"); + + uiDefButBitS(block, TOG, ACT_ADD_LIN_VEL, 0, "add",xco+45+3*wval+15, yco-129, 35, 19, &oa->flag, 0.0, 0.0, 0, 0, "Toggles between ADD and SET linV"); + + } else if (oa->type == ACT_OBJECT_SERVO) + { + ysize= 172; + + glRects(xco, yco-ysize, xco+width, yco); + uiEmboss((float)xco, (float)yco-ysize, (float)xco+width, (float)yco, 1); + + uiDefBut(block, LABEL, 0, "linV", xco, yco-45, 45, 19, NULL, 0, 0, 0, 0, "Sets the target linear velocity, it will be achieve by automatic application of force. Null velocity is a valid target"); + uiDefButF(block, NUM, 0, "", xco+45, yco-45, wval, 19, oa->linearvelocity, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+wval, yco-45, wval, 19, oa->linearvelocity+1, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-45, wval, 19, oa->linearvelocity+2, -10000.0, 10000.0, 10, 0, ""); + uiDefButBitS(block, TOG, ACT_LIN_VEL_LOCAL, 0, "L", xco+45+3*wval, yco-45, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Velocity is defined in local coordinates"); + + uiDefBut(block, LABEL, 0, "Limit", xco, yco-68, 45, 19, NULL, 0, 0, 0, 0, "Select if the force need to be limited along certain axis (local or global depending on LinV Local flag)"); + uiDefButBitS(block, TOG, ACT_SERVO_LIMIT_X, B_REDR, "X", xco+45, yco-68, wval, 19, &oa->flag, 0.0, 0.0, 0, 0, "Set limit to force along the X axis"); + uiDefButBitS(block, TOG, ACT_SERVO_LIMIT_Y, B_REDR, "Y", xco+45+wval, yco-68, wval, 19, &oa->flag, 0.0, 0.0, 0, 0, "Set limit to force along the Y axis"); + uiDefButBitS(block, TOG, ACT_SERVO_LIMIT_Z, B_REDR, "Z", xco+45+2*wval, yco-68, wval, 19, &oa->flag, 0.0, 0.0, 0, 0, "Set limit to force along the Z axis"); + uiDefBut(block, LABEL, 0, "Max", xco, yco-87, 45, 19, NULL, 0, 0, 0, 0, "Set the upper limit for force"); + uiDefBut(block, LABEL, 0, "Min", xco, yco-106, 45, 19, NULL, 0, 0, 0, 0, "Set the lower limit for force"); + if (oa->flag & ACT_SERVO_LIMIT_X) { + uiDefButF(block, NUM, 0, "", xco+45, yco-87, wval, 19, oa->dloc, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45, yco-106, wval, 19, oa->drot, -10000.0, 10000.0, 10, 0, ""); + } + if (oa->flag & ACT_SERVO_LIMIT_Y) { + uiDefButF(block, NUM, 0, "", xco+45+wval, yco-87, wval, 19, oa->dloc+1, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+wval, yco-106, wval, 19, oa->drot+1, -10000.0, 10000.0, 10, 0, ""); + } + if (oa->flag & ACT_SERVO_LIMIT_Z) { + uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-87, wval, 19, oa->dloc+2, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-106, wval, 19, oa->drot+2, -10000.0, 10000.0, 10, 0, ""); + } + uiDefBut(block, LABEL, 0, "Servo", xco, yco-129, 45, 19, NULL, 0, 0, 0, 0, "Coefficients of the PID servo controller"); + uiDefButF(block, NUMSLI, B_REDR, "P: ", xco+45, yco-129, wval*3, 19, oa->forcerot, 0.00, 200.0, 100, 0, "Proportional coefficient, typical value is 60x Integral coefficient"); + uiDefBut(block, LABEL, 0, "Slow", xco, yco-148, 45, 19, NULL, 0, 0, 0, 0, "Low value of I coefficient correspond to slow response"); + but = uiDefButF(block, NUMSLI, B_REDR, " I : ", xco+45, yco-148, wval*3, 19, oa->forcerot+1, 0.0, 3.0, 1, 0, "Integral coefficient, low value (0.01) for slow response, high value (0.5) for fast response"); + uiButSetFunc(but, update_object_actuator_PID, oa, NULL); + uiDefBut(block, LABEL, 0, "Fast", xco+45+3*wval, yco-148, 45, 19, NULL, 0, 0, 0, 0, "High value of I coefficient correspond to fast response"); + uiDefButF(block, NUMSLI, B_REDR, "D: ", xco+45, yco-167, wval*3, 19, oa->forcerot+2, -100.0, 100.0, 100, 0, "Derivate coefficient, not required, high values can cause instability"); + } + str= "Motion Type %t|Simple motion %x0|Servo Control %x1"; + but = uiDefButS(block, MENU, B_REDR, str, xco+40, yco-23, (width-80), 19, &oa->type, 0.0, 0.0, 0, 0, ""); + oa->otype = oa->type; + uiButSetFunc(but, change_object_actuator, oa, NULL); yco-= ysize; break; } @@ -1930,34 +2025,97 @@ static short draw_actuatorbuttons(Object *ob, bActuator *act, uiBlock *block, sh break; case ACT_CONSTRAINT: + coa= act->data; - ysize= 44; + if (coa->type == ACT_CONST_TYPE_LOC) { + ysize= 69; - glRects(xco, yco-ysize, xco+width, yco); - uiEmboss((float)xco, (float)yco-ysize, (float)xco+width, (float)yco, 1); + glRects(xco, yco-ysize, xco+width, yco); + uiEmboss((float)xco, (float)yco-ysize, (float)xco+width, (float)yco, 1); + + /* str= "Limit %t|None %x0|Loc X %x1|Loc Y %x2|Loc Z %x4|Rot X %x8|Rot Y %x16|Rot Z %x32"; */ + /* coa->flag &= ~(63); */ + str= "Limit %t|None %x0|Loc X %x1|Loc Y %x2|Loc Z %x4"; + coa->flag &= ~(7); + coa->time = 0; + uiDefButS(block, MENU, 1, str, xco+10, yco-65, 70, 19, &coa->flag, 0.0, 0.0, 0, 0, ""); - coa= act->data; + uiDefButS(block, NUM, 0, "Damp:", xco+10, yco-45, 70, 19, &coa->damp, 0.0, 100.0, 0, 0, ""); + uiDefBut(block, LABEL, 0, "Min", xco+80, yco-45, (width-90)/2, 19, NULL, 0.0, 0.0, 0, 0, ""); + uiDefBut(block, LABEL, 0, "Max", xco+80+(width-90)/2, yco-45, (width-90)/2, 19, NULL, 0.0, 0.0, 0, 0, ""); + + if(coa->flag & ACT_CONST_LOCX) fp= coa->minloc; + else if(coa->flag & ACT_CONST_LOCY) fp= coa->minloc+1; + else if(coa->flag & ACT_CONST_LOCZ) fp= coa->minloc+2; + else if(coa->flag & ACT_CONST_ROTX) fp= coa->minrot; + else if(coa->flag & ACT_CONST_ROTY) fp= coa->minrot+1; + else fp= coa->minrot+2; + + uiDefButF(block, NUM, 0, "", xco+80, yco-65, (width-90)/2, 19, fp, -2000.0, 2000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+80+(width-90)/2, yco-65, (width-90)/2, 19, fp+3, -2000.0, 2000.0, 10, 0, ""); + } else if (coa->type == ACT_CONST_TYPE_DIST) { + ysize= 106; + + glRects(xco, yco-ysize, xco+width, yco); + uiEmboss((float)xco, (float)yco-ysize, (float)xco+width, (float)yco, 1); + + str= "Direction %t|None %x0|X axis %x1|Y axis %x2|Z axis %x4|-X axis %x8|-Y axis %x16|-Z axis %x32"; + uiDefButS(block, MENU, B_REDR, str, xco+10, yco-65, 70, 19, &coa->mode, 0.0, 0.0, 0, 0, "Set the direction of the ray"); -/* str= "Limit %t|None %x0|Loc X %x1|Loc Y %x2|Loc Z %x4|Rot X %x8|Rot Y %x16|Rot Z %x32"; */ - str= "Limit %t|None %x0|Loc X %x1|Loc Y %x2|Loc Z %x4"; - uiDefButS(block, MENU, 1, str, xco+10, yco-40, 70, 19, &coa->flag, 0.0, 0.0, 0, 0, ""); - - uiDefButS(block, NUM, 0, "Damp:", xco+10, yco-20, 70, 19, &coa->damp, 0.0, 100.0, 0, 0, ""); - uiDefBut(block, LABEL, 0, "Min", xco+80, yco-20, (width-90)/2, 19, NULL, 0.0, 0.0, 0, 0, ""); - uiDefBut(block, LABEL, 0, "Max", xco+80+(width-90)/2, yco-20, (width-90)/2, 19, NULL, 0.0, 0.0, 0, 0, ""); - - if(coa->flag & ACT_CONST_LOCX) fp= coa->minloc; - else if(coa->flag & ACT_CONST_LOCY) fp= coa->minloc+1; - else if(coa->flag & ACT_CONST_LOCZ) fp= coa->minloc+2; - else if(coa->flag & ACT_CONST_ROTX) fp= coa->minrot; - else if(coa->flag & ACT_CONST_ROTY) fp= coa->minrot+1; - else fp= coa->minrot+2; + uiDefButS(block, NUM, 0, "Damp:", xco+10, yco-45, 70, 19, &coa->damp, 0.0, 100.0, 0, 0, ""); + uiDefBut(block, LABEL, 0, "Range", xco+80, yco-45, (width-115)/2, 19, NULL, 0.0, 0.0, 0, 0, "Set the maximum length of ray"); + uiDefButBitS(block, TOG, ACT_CONST_DISTANCE, B_REDR, "Dist", xco+80+(width-115)/2, yco-45, (width-115)/2, 19, &coa->flag, 0.0, 0.0, 0, 0, "Force distance of object to point of impact of ray"); + + if(coa->mode & (ACT_CONST_DIRPX|ACT_CONST_DIRMX)) fp= coa->minloc; + else if(coa->mode & (ACT_CONST_DIRPY|ACT_CONST_DIRMY)) fp= coa->minloc+1; + else fp= coa->minloc+2; + + uiDefButF(block, NUM, 0, "", xco+80, yco-65, (width-115)/2, 19, fp+3, 0.0, 2000.0, 10, 0, "Maximum length of ray"); + if (coa->flag & ACT_CONST_DISTANCE) + uiDefButF(block, NUM, 0, "", xco+80+(width-115)/2, yco-65, (width-115)/2, 19, fp, -2000.0, 2000.0, 10, 0, "Keep this distance to target"); + uiDefButBitS(block, TOG, ACT_CONST_NORMAL, 0, "N", xco+80+(width-115), yco-65, 25, 19, + &coa->flag, 0.0, 0.0, 0, 0, "Set object axis along the normal at hit position"); + uiDefButBitS(block, TOG, ACT_CONST_MATERIAL, B_REDR, "M/P", xco+10, yco-84, 40, 19, + &coa->flag, 0.0, 0.0, 0, 0, "Detect material instead of property"); + if (coa->flag & ACT_CONST_MATERIAL) + { + uiDefBut(block, TEX, 1, "Material:", xco + 50, yco-84, (width-60), 19, + coa->matprop, 0, 31, 0, 0, + "Ray detects only Objects with this material"); + } + else + { + uiDefBut(block, TEX, 1, "Property:", xco + 50, yco-84, (width-60), 19, + coa->matprop, 0, 31, 0, 0, + "Ray detect only Objects with this property"); + } + uiDefButBitS(block, TOG, ACT_CONST_PERMANENT, 0, "PER", xco+10, yco-103, 40, 19, + &coa->flag, 0.0, 0.0, 0, 0, "Persistent actuator: stays active even if ray does not reach target"); + uiDefButS(block, NUM, 0, "time", xco+50, yco-103, (width-60)/2, 19, &(coa->time), 0.0, 1000.0, 0, 0, "Maximum activation time in frame, 0 for unlimited"); + uiDefButS(block, NUM, 0, "rotDamp", xco+50+(width-60)/2, yco-103, (width-60)/2, 19, &(coa->rotdamp), 0.0, 100.0, 0, 0, "Use a different damping for orientation"); + } else if (coa->type == ACT_CONST_TYPE_ORI) { + ysize= 87; + + glRects(xco, yco-ysize, xco+width, yco); + uiEmboss((float)xco, (float)yco-ysize, (float)xco+width, (float)yco, 1); + + str= "Direction %t|None %x0|X axis %x1|Y axis %x2|Z axis %x4"; + uiDefButS(block, MENU, B_REDR, str, xco+10, yco-65, 70, 19, &coa->mode, 0.0, 0.0, 0, 0, "Select the axis to be aligned along the reference direction"); - uiDefButF(block, NUM, 0, "", xco+80, yco-40, (width-90)/2, 19, fp, -2000.0, 2000.0, 10, 0, ""); - uiDefButF(block, NUM, 0, "", xco+80+(width-90)/2, yco-40, (width-90)/2, 19, fp+3, -2000.0, 2000.0, 10, 0, ""); + uiDefButS(block, NUM, 0, "Damp:", xco+10, yco-45, 70, 19, &coa->damp, 0.0, 100.0, 0, 0, ""); + uiDefBut(block, LABEL, 0, "X", xco+80, yco-45, (width-115)/3, 19, NULL, 0.0, 0.0, 0, 0, ""); + uiDefBut(block, LABEL, 0, "Y", xco+80+(width-115)/3, yco-45, (width-115)/3, 19, NULL, 0.0, 0.0, 0, 0, ""); + uiDefBut(block, LABEL, 0, "Z", xco+80+2*(width-115)/3, yco-45, (width-115)/3, 19, NULL, 0.0, 0.0, 0, 0, ""); + + uiDefButF(block, NUM, 0, "", xco+80, yco-65, (width-115)/3, 19, &coa->maxrot[0], -2000.0, 2000.0, 10, 0, "X component of reference direction"); + uiDefButF(block, NUM, 0, "", xco+80+(width-115)/3, yco-65, (width-115)/3, 19, &coa->maxrot[1], -2000.0, 2000.0, 10, 0, "Y component of reference direction"); + uiDefButF(block, NUM, 0, "", xco+80+2*(width-115)/3, yco-65, (width-115)/3, 19, &coa->maxrot[2], -2000.0, 2000.0, 10, 0, "Z component of reference direction"); + uiDefButS(block, NUM, 0, "time", xco+10, yco-84, 70+(width-115)/3, 19, &(coa->time), 0.0, 1000.0, 0, 0, "Maximum activation time in frame, 0 for unlimited"); + } + str= "Constraint Type %t|Location %x0|Distance %x1|Orientation %x2"; + but = uiDefButS(block, MENU, B_REDR, str, xco+40, yco-23, (width-80), 19, &coa->type, 0.0, 0.0, 0, 0, ""); yco-= ysize; - break; case ACT_SCENE: diff --git a/source/gameengine/Converter/KX_ConvertActuators.cpp b/source/gameengine/Converter/KX_ConvertActuators.cpp index ea26c55a44e..6e05ea31fe8 100644 --- a/source/gameengine/Converter/KX_ConvertActuators.cpp +++ b/source/gameengine/Converter/KX_ConvertActuators.cpp @@ -159,7 +159,7 @@ void BL_ConvertActuators(char* maggiename, bitLocalFlag.DRot = bool((obact->flag & ACT_DROT_LOCAL)!=0); bitLocalFlag.LinearVelocity = bool((obact->flag & ACT_LIN_VEL_LOCAL)!=0); bitLocalFlag.AngularVelocity = bool((obact->flag & ACT_ANG_VEL_LOCAL)!=0); - bitLocalFlag.ClampVelocity = bool((obact->flag & ACT_CLAMP_VEL)!=0); + bitLocalFlag.ServoControl = bool(obact->type == ACT_OBJECT_SERVO); bitLocalFlag.AddOrSetLinV = bool((obact->flag & ACT_ADD_LIN_VEL)!=0); @@ -619,51 +619,105 @@ void BL_ConvertActuators(char* maggiename, case ACT_CONSTRAINT: { float min = 0.0, max = 0.0; + char *prop = NULL; KX_ConstraintActuator::KX_CONSTRAINTTYPE locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_NODEF; bConstraintActuator *conact = (bConstraintActuator*) bact->data; /* convert settings... degrees in the ui become radians */ /* internally */ - switch (conact->flag) { - case ACT_CONST_LOCX: - locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_LOCX; - min = conact->minloc[0]; - max = conact->maxloc[0]; - break; - case ACT_CONST_LOCY: - locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_LOCY; - min = conact->minloc[1]; - max = conact->maxloc[1]; - break; - case ACT_CONST_LOCZ: - locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_LOCZ; - min = conact->minloc[2]; - max = conact->maxloc[2]; - break; - case ACT_CONST_ROTX: - locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_ROTX; - min = MT_2_PI * conact->minrot[0] / 360.0; - max = MT_2_PI * conact->maxrot[0] / 360.0; - break; - case ACT_CONST_ROTY: - locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_ROTY; - min = MT_2_PI * conact->minrot[1] / 360.0; - max = MT_2_PI * conact->maxrot[1] / 360.0; - break; - case ACT_CONST_ROTZ: - locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_ROTZ; - min = MT_2_PI * conact->minrot[2] / 360.0; - max = MT_2_PI * conact->maxrot[2] / 360.0; - break; - default: - ; /* error */ + if (conact->type == ACT_CONST_TYPE_ORI) { + switch (conact->mode) { + case ACT_CONST_DIRPX: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_ORIX; + break; + case ACT_CONST_DIRPY: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_ORIY; + break; + case ACT_CONST_DIRPZ: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_ORIZ; + break; + } + } else if (conact->type == ACT_CONST_TYPE_DIST) { + switch (conact->mode) { + case ACT_CONST_DIRPX: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_DIRPX; + min = conact->minloc[0]; + max = conact->maxloc[0]; + break; + case ACT_CONST_DIRPY: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_DIRPY; + min = conact->minloc[1]; + max = conact->maxloc[1]; + break; + case ACT_CONST_DIRPZ: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_DIRPZ; + min = conact->minloc[2]; + max = conact->maxloc[2]; + break; + case ACT_CONST_DIRMX: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_DIRMX; + min = conact->minloc[0]; + max = conact->maxloc[0]; + break; + case ACT_CONST_DIRMY: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_DIRMY; + min = conact->minloc[1]; + max = conact->maxloc[1]; + break; + case ACT_CONST_DIRMZ: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_DIRMZ; + min = conact->minloc[2]; + max = conact->maxloc[2]; + break; + } + prop = conact->matprop; + } else { + switch (conact->flag) { + case ACT_CONST_LOCX: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_LOCX; + min = conact->minloc[0]; + max = conact->maxloc[0]; + break; + case ACT_CONST_LOCY: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_LOCY; + min = conact->minloc[1]; + max = conact->maxloc[1]; + break; + case ACT_CONST_LOCZ: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_LOCZ; + min = conact->minloc[2]; + max = conact->maxloc[2]; + break; + case ACT_CONST_ROTX: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_ROTX; + min = MT_2_PI * conact->minrot[0] / 360.0; + max = MT_2_PI * conact->maxrot[0] / 360.0; + break; + case ACT_CONST_ROTY: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_ROTY; + min = MT_2_PI * conact->minrot[1] / 360.0; + max = MT_2_PI * conact->maxrot[1] / 360.0; + break; + case ACT_CONST_ROTZ: + locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_ROTZ; + min = MT_2_PI * conact->minrot[2] / 360.0; + max = MT_2_PI * conact->maxrot[2] / 360.0; + break; + default: + ; /* error */ + } } KX_ConstraintActuator *tmpconact = new KX_ConstraintActuator(gameobj, - conact->damp, - min, - max, - locrot); + conact->damp, + conact->rotdamp, + min, + max, + conact->maxrot, + locrot, + conact->time, + conact->flag, + prop); baseact = tmpconact; break; } diff --git a/source/gameengine/Converter/KX_ConvertSensors.cpp b/source/gameengine/Converter/KX_ConvertSensors.cpp index e7e4eeae7d2..7c9df688d45 100644 --- a/source/gameengine/Converter/KX_ConvertSensors.cpp +++ b/source/gameengine/Converter/KX_ConvertSensors.cpp @@ -64,6 +64,7 @@ probably misplaced */ #include "KX_MouseFocusSensor.h" #include "SCA_JoystickSensor.h" #include "KX_NetworkMessageSensor.h" +#include "SCA_ActuatorSensor.h" #include "SCA_PropertySensor.h" @@ -538,6 +539,19 @@ void BL_ConvertSensors(struct Object* blenderobject, break; } + case SENS_ACTUATOR: + { + bActuatorSensor* blenderactsensor = (bActuatorSensor*) sens->data; + // we will reuse the property event manager, there is nothing special with this sensor + SCA_EventManager* eventmgr + = logicmgr->FindEventManager(SCA_EventManager::ACTUATOR_EVENTMGR); + if (eventmgr) + { + STR_String propname=blenderactsensor->name; + gamesensor = new SCA_ActuatorSensor(eventmgr,gameobj,propname); + } + break; + } case SENS_RADAR: { diff --git a/source/gameengine/GameLogic/SCA_ActuatorEventManager.cpp b/source/gameengine/GameLogic/SCA_ActuatorEventManager.cpp new file mode 100644 index 00000000000..28ca1fd673f --- /dev/null +++ b/source/gameengine/GameLogic/SCA_ActuatorEventManager.cpp @@ -0,0 +1,76 @@ +/** + * $Id$ + * ***** 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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 ***** + */ + +#include "SCA_ISensor.h" +#include "SCA_ActuatorEventManager.h" +#include "SCA_ActuatorSensor.h" + +#ifdef HAVE_CONFIG_H +#include <config.h> +#endif + + +SCA_ActuatorEventManager::SCA_ActuatorEventManager(class SCA_LogicManager* logicmgr) + : SCA_EventManager(ACTUATOR_EVENTMGR), + m_logicmgr(logicmgr) +{ +} + + + +SCA_ActuatorEventManager::~SCA_ActuatorEventManager() +{ + +} + + + +void SCA_ActuatorEventManager::RegisterSensor(SCA_ISensor* sensor) +{ + m_sensors.push_back(sensor); +} + + + +void SCA_ActuatorEventManager::NextFrame() +{ + // check for changed actuator + for (vector<SCA_ISensor*>::const_iterator it = m_sensors.begin();!(it==m_sensors.end());it++) + { + (*it)->Activate(m_logicmgr,NULL); + } +} + +void SCA_ActuatorEventManager::UpdateFrame() +{ + // update the state of actuator before executing them + for (vector<SCA_ISensor*>::const_iterator it = m_sensors.begin();!(it==m_sensors.end());it++) + { + ((SCA_ActuatorSensor*)(*it))->Update(); + } +}
\ No newline at end of file diff --git a/source/gameengine/GameLogic/SCA_ActuatorEventManager.h b/source/gameengine/GameLogic/SCA_ActuatorEventManager.h new file mode 100644 index 00000000000..b5108764197 --- /dev/null +++ b/source/gameengine/GameLogic/SCA_ActuatorEventManager.h @@ -0,0 +1,52 @@ +/** + * $Id$ + * + * ***** 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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 ***** + */ +#ifndef __KX_ACTUATOREVENTMANAGER +#define __KX_ACTUATOREVENTMANAGER + +#include "SCA_EventManager.h" + +#include <vector> + +using namespace std; + +class SCA_ActuatorEventManager : public SCA_EventManager +{ + class SCA_LogicManager* m_logicmgr; + +public: + SCA_ActuatorEventManager(class SCA_LogicManager* logicmgr); + virtual ~SCA_ActuatorEventManager(); + virtual void NextFrame(); + virtual void UpdateFrame(); + virtual void RegisterSensor(SCA_ISensor* sensor); + //SCA_LogicManager* GetLogicManager() { return m_logicmgr;} +}; + +#endif //__KX_ACTUATOREVENTMANAGER + diff --git a/source/gameengine/GameLogic/SCA_ActuatorSensor.cpp b/source/gameengine/GameLogic/SCA_ActuatorSensor.cpp new file mode 100644 index 00000000000..9645bfbed4a --- /dev/null +++ b/source/gameengine/GameLogic/SCA_ActuatorSensor.cpp @@ -0,0 +1,196 @@ +/** + * Actuator sensor + * + * $Id$ + * + * ***** 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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 ***** + */ + +#include <iostream> +#include "SCA_ActuatorSensor.h" +#include "SCA_EventManager.h" +#include "SCA_LogicManager.h" + +#ifdef HAVE_CONFIG_H +#include <config.h> +#endif + +SCA_ActuatorSensor::SCA_ActuatorSensor(SCA_EventManager* eventmgr, + SCA_IObject* gameobj, + const STR_String& actname, + PyTypeObject* T ) + : SCA_ISensor(gameobj,eventmgr,T), + m_checkactname(actname) +{ + m_actuator = GetParent()->FindActuator(m_checkactname); + Init(); +} + +void SCA_ActuatorSensor::Init() +{ + m_lastresult = m_invert?true:false; + m_midresult = m_lastresult; + m_reset = true; +} + +CValue* SCA_ActuatorSensor::GetReplica() +{ + SCA_ActuatorSensor* replica = new SCA_ActuatorSensor(*this); + // m_range_expr must be recalculated on replica! + CValue::AddDataToReplica(replica); + replica->Init(); + + return replica; +} + +void SCA_ActuatorSensor::ReParent(SCA_IObject* parent) +{ + m_actuator = parent->FindActuator(m_checkactname); + SCA_ISensor::ReParent(parent); +} + +bool SCA_ActuatorSensor::IsPositiveTrigger() +{ + bool result = m_lastresult; + if (m_invert) + result = !result; + + return result; +} + + + +SCA_ActuatorSensor::~SCA_ActuatorSensor() +{ +} + + + +bool SCA_ActuatorSensor::Evaluate(CValue* event) +{ + if (m_actuator) + { + bool result = m_actuator->IsActive(); + bool reset = m_reset && m_level; + + m_reset = false; + if (m_lastresult != result || m_midresult != result) + { + m_lastresult = m_midresult = result; + return true; + } + return (reset) ? true : false; + } + return false; +} + +void SCA_ActuatorSensor::Update() +{ + if (m_actuator) + { + m_midresult = m_actuator->IsActive(); + } +} + + +/* ------------------------------------------------------------------------- */ +/* Python functions */ +/* ------------------------------------------------------------------------- */ + +/* Integration hooks ------------------------------------------------------- */ +PyTypeObject SCA_ActuatorSensor::Type = { + PyObject_HEAD_INIT(&PyType_Type) + 0, + "SCA_ActuatorSensor", + sizeof(SCA_ActuatorSensor), + 0, + PyDestructor, + 0, + __getattr, + __setattr, + 0, //&MyPyCompare, + __repr, + 0, //&cvalue_as_number, + 0, + 0, + 0, + 0 +}; + +PyParentObject SCA_ActuatorSensor::Parents[] = { + &SCA_ActuatorSensor::Type, + &SCA_ISensor::Type, + &SCA_ILogicBrick::Type, + &CValue::Type, + NULL +}; + +PyMethodDef SCA_ActuatorSensor::Methods[] = { + {"getActuator", (PyCFunction) SCA_ActuatorSensor::sPyGetActuator, METH_VARARGS, GetActuator_doc}, + {"setActuator", (PyCFunction) SCA_ActuatorSensor::sPySetActuator, METH_VARARGS, SetActuator_doc}, + {NULL,NULL} //Sentinel +}; + +PyObject* SCA_ActuatorSensor::_getattr(const STR_String& attr) { + _getattr_up(SCA_ISensor); /* implicit return! */ +} + +/* 3. getActuator */ +char SCA_ActuatorSensor::GetActuator_doc[] = +"getActuator()\n" +"\tReturn the Actuator with which the sensor operates.\n"; +PyObject* SCA_ActuatorSensor::PyGetActuator(PyObject* self, PyObject* args, PyObject* kwds) +{ + return PyString_FromString(m_checkactname); +} + +/* 4. setActuator */ +char SCA_ActuatorSensor::SetActuator_doc[] = +"setActuator(name)\n" +"\t- name: string\n" +"\tSets the Actuator with which to operate. If there is no Actuator\n" +"\tof this name, the call is ignored.\n"; +PyObject* SCA_ActuatorSensor::PySetActuator(PyObject* self, PyObject* args, PyObject* kwds) +{ + /* We should query whether the name exists. Or should we create a prop */ + /* on the fly? */ + char *actNameArg = NULL; + + if (!PyArg_ParseTuple(args, "s", &actNameArg)) { + return NULL; + } + + SCA_IActuator* act = GetParent()->FindActuator(STR_String(actNameArg)); + if (act) { + m_checkactname = actNameArg; + m_actuator = act; + } else { + ; /* error: bad actuator name */ + } + Py_Return; +} + +/* eof */ diff --git a/source/gameengine/GameLogic/SCA_ActuatorSensor.h b/source/gameengine/GameLogic/SCA_ActuatorSensor.h new file mode 100644 index 00000000000..6086c5bfce0 --- /dev/null +++ b/source/gameengine/GameLogic/SCA_ActuatorSensor.h @@ -0,0 +1,74 @@ +/** + * Actuator sensor + * + * $Id$ + * + * ***** 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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 ***** + */ + +#ifndef __KX_ACTUATORSENSOR +#define __KX_ACTUATORSENSOR + +#include "SCA_ISensor.h" +#include "SCA_IActuator.h" + +class SCA_ActuatorSensor : public SCA_ISensor +{ + Py_Header; + STR_String m_checkactname; + bool m_lastresult; + bool m_midresult; + protected: + SCA_IActuator* m_actuator; +public: + SCA_ActuatorSensor(class SCA_EventManager* eventmgr, + SCA_IObject* gameobj, + const STR_String& actname, + PyTypeObject* T=&Type ); + + virtual ~SCA_ActuatorSensor(); + virtual CValue* GetReplica(); + virtual void Init(); + virtual bool Evaluate(CValue* event); + virtual bool IsPositiveTrigger(); + virtual void ReParent(SCA_IObject* parent); + void Update(); + + /* --------------------------------------------------------------------- */ + /* Python interface ---------------------------------------------------- */ + /* --------------------------------------------------------------------- */ + + virtual PyObject* _getattr(const STR_String& attr); + + /* 3. setProperty */ + KX_PYMETHOD_DOC(SCA_ActuatorSensor,SetActuator); + /* 4. getProperty */ + KX_PYMETHOD_DOC(SCA_ActuatorSensor,GetActuator); + +}; + +#endif + diff --git a/source/gameengine/GameLogic/SCA_EventManager.cpp b/source/gameengine/GameLogic/SCA_EventManager.cpp index 1ca88182ddc..0169864a133 100644 --- a/source/gameengine/GameLogic/SCA_EventManager.cpp +++ b/source/gameengine/GameLogic/SCA_EventManager.cpp @@ -72,7 +72,9 @@ void SCA_EventManager::EndFrame() { } - +void SCA_EventManager::UpdateFrame() +{ +} int SCA_EventManager::GetType() { diff --git a/source/gameengine/GameLogic/SCA_EventManager.h b/source/gameengine/GameLogic/SCA_EventManager.h index 89731497f6f..9cc1718cd1e 100644 --- a/source/gameengine/GameLogic/SCA_EventManager.h +++ b/source/gameengine/GameLogic/SCA_EventManager.h @@ -49,7 +49,8 @@ public: RAY_EVENTMGR, RADAR_EVENTMGR, NETWORK_EVENTMGR, - JOY_EVENTMGR + JOY_EVENTMGR, + ACTUATOR_EVENTMGR }; SCA_EventManager(EVENT_MANAGER_TYPE mgrtype); @@ -58,6 +59,7 @@ public: virtual void RemoveSensor(class SCA_ISensor* sensor); virtual void NextFrame(double curtime, double fixedtime); virtual void NextFrame(); + virtual void UpdateFrame(); virtual void EndFrame(); virtual void RegisterSensor(class SCA_ISensor* sensor)=0; int GetType(); diff --git a/source/gameengine/GameLogic/SCA_IObject.cpp b/source/gameengine/GameLogic/SCA_IObject.cpp index 826e7bbdf0e..27e7d5faada 100644 --- a/source/gameengine/GameLogic/SCA_IObject.cpp +++ b/source/gameengine/GameLogic/SCA_IObject.cpp @@ -157,15 +157,15 @@ bool SCA_IObject::GetIgnoreActivityCulling() void SCA_IObject::ReParentLogic() { - SCA_SensorList& oldsensors = GetSensors(); - - int sen = 0; - SCA_SensorList::iterator its; - for (its = oldsensors.begin(); !(its==oldsensors.end()); ++its) + SCA_ActuatorList& oldactuators = GetActuators(); + int act = 0; + SCA_ActuatorList::iterator ita; + for (ita = oldactuators.begin(); !(ita==oldactuators.end()); ++ita) { - SCA_ISensor* newsensor = (SCA_ISensor*)(*its)->GetReplica(); - newsensor->ReParent(this); - oldsensors[sen++] = newsensor; + SCA_IActuator* newactuator = (SCA_IActuator*) (*ita)->GetReplica(); + newactuator->ReParent(this); + newactuator->SetActive(false); + oldactuators[act++] = newactuator; } SCA_ControllerList& oldcontrollers = GetControllers(); @@ -178,17 +178,17 @@ void SCA_IObject::ReParentLogic() oldcontrollers[con++]=newcontroller; } - SCA_ActuatorList& oldactuators = GetActuators(); - - int act = 0; - SCA_ActuatorList::iterator ita; - for (ita = oldactuators.begin(); !(ita==oldactuators.end()); ++ita) + // convert sensors last so that actuators are already available for Actuator sensor + SCA_SensorList& oldsensors = GetSensors(); + int sen = 0; + SCA_SensorList::iterator its; + for (its = oldsensors.begin(); !(its==oldsensors.end()); ++its) { - SCA_IActuator* newactuator = (SCA_IActuator*) (*ita)->GetReplica(); - newactuator->ReParent(this); - newactuator->SetActive(false); - oldactuators[act++] = newactuator; + SCA_ISensor* newsensor = (SCA_ISensor*)(*its)->GetReplica(); + newsensor->ReParent(this); + oldsensors[sen++] = newsensor; } + // a new object cannot be client of any actuator m_registeredActuators.clear(); diff --git a/source/gameengine/GameLogic/SCA_ISensor.cpp b/source/gameengine/GameLogic/SCA_ISensor.cpp index 1b163deb7bb..68341b57435 100644 --- a/source/gameengine/GameLogic/SCA_ISensor.cpp +++ b/source/gameengine/GameLogic/SCA_ISensor.cpp @@ -56,6 +56,7 @@ SCA_ISensor::SCA_ISensor(SCA_IObject* gameobj, m_suspended = false; m_invert = false; m_level = false; + m_reset = false; m_pos_ticks = 0; m_neg_ticks = 0; m_pos_pulsemode = false; diff --git a/source/gameengine/GameLogic/SCA_ISensor.h b/source/gameengine/GameLogic/SCA_ISensor.h index 3527b87ebdb..f2ed6a803c2 100644 --- a/source/gameengine/GameLogic/SCA_ISensor.h +++ b/source/gameengine/GameLogic/SCA_ISensor.h @@ -64,6 +64,9 @@ class SCA_ISensor : public SCA_ILogicBrick /** detect level instead of edge*/ bool m_level; + /** sensor has been reset */ + bool m_reset; + /** Sensor must ignore updates? */ bool m_suspended; diff --git a/source/gameengine/GameLogic/SCA_JoystickSensor.cpp b/source/gameengine/GameLogic/SCA_JoystickSensor.cpp index 8668c22f044..3fb439eb25b 100644 --- a/source/gameengine/GameLogic/SCA_JoystickSensor.cpp +++ b/source/gameengine/GameLogic/SCA_JoystickSensor.cpp @@ -70,6 +70,7 @@ std::cout << " hat flag " << m_hatf << std::endl; void SCA_JoystickSensor::Init() { m_istrig=(m_invert)?1:0; + m_reset = true; } SCA_JoystickSensor::~SCA_JoystickSensor() @@ -79,9 +80,10 @@ SCA_JoystickSensor::~SCA_JoystickSensor() CValue* SCA_JoystickSensor::GetReplica() { - CValue* replica = new SCA_JoystickSensor(*this); + SCA_JoystickSensor* replica = new SCA_JoystickSensor(*this); // this will copy properties and so on... CValue::AddDataToReplica(replica); + replica->Init(); return replica; } @@ -99,7 +101,9 @@ bool SCA_JoystickSensor::Evaluate(CValue* event) { SCA_Joystick *js = m_pJoystickMgr->GetJoystickDevice(); bool result = false; + bool reset = m_reset && m_level; + m_reset = false; switch(m_joymode) { case KX_JOYSENSORMODE_AXIS: @@ -240,6 +244,8 @@ bool SCA_JoystickSensor::Evaluate(CValue* event) if(!js->IsTrig()){ m_istrig = 0; } + if (reset) + result = true; return result; } diff --git a/source/gameengine/GameLogic/SCA_KeyboardSensor.cpp b/source/gameengine/GameLogic/SCA_KeyboardSensor.cpp index 43ce25f94df..a7a6fa93db4 100644 --- a/source/gameengine/GameLogic/SCA_KeyboardSensor.cpp +++ b/source/gameengine/GameLogic/SCA_KeyboardSensor.cpp @@ -78,14 +78,15 @@ void SCA_KeyboardSensor::Init() // However, if the target key is pressed when the sensor is reactivated, it // will not generated an event (see remark in Evaluate()). m_val = (m_invert)?1:0; + m_reset = true; } CValue* SCA_KeyboardSensor::GetReplica() { - CValue* replica = new SCA_KeyboardSensor(*this); + SCA_KeyboardSensor* replica = new SCA_KeyboardSensor(*this); // this will copy properties and so on... CValue::AddDataToReplica(replica); - + replica->Init(); return replica; } @@ -120,8 +121,8 @@ bool SCA_KeyboardSensor::TriggerOnAllKeys() bool SCA_KeyboardSensor::Evaluate(CValue* eventval) { bool result = false; + bool reset = m_reset && m_level; SCA_IInputDevice* inputdev = m_pKeyboardMgr->GetInputDevice(); - // cerr << "SCA_KeyboardSensor::Eval event, sensing for "<< m_hotkey << " at device " << inputdev << "\n"; /* See if we need to do logging: togPropState exists and is @@ -134,7 +135,7 @@ bool SCA_KeyboardSensor::Evaluate(CValue* eventval) LogKeystrokes(); } - + m_reset = false; /* Now see whether events must be bounced. */ if (m_bAllKeys) @@ -176,8 +177,8 @@ bool SCA_KeyboardSensor::Evaluate(CValue* eventval) { if (m_val == 0) { + m_val = 1; if (m_level) { - m_val = 1; result = true; } } @@ -229,9 +230,9 @@ bool SCA_KeyboardSensor::Evaluate(CValue* eventval) { if (m_val == 0) { + m_val = 1; if (m_level) { - m_val = 1; result = true; } } @@ -240,7 +241,9 @@ bool SCA_KeyboardSensor::Evaluate(CValue* eventval) } } } - + if (reset) + // force an event + result = true; return result; } diff --git a/source/gameengine/GameLogic/SCA_LogicManager.cpp b/source/gameengine/GameLogic/SCA_LogicManager.cpp index fb1a2c29eb6..f50161cbecb 100644 --- a/source/gameengine/GameLogic/SCA_LogicManager.cpp +++ b/source/gameengine/GameLogic/SCA_LogicManager.cpp @@ -271,6 +271,10 @@ void SCA_LogicManager::UpdateFrame(double curtime, bool frame) } m_removedActuators.clear(); + // About to run actuators, but before update the sensors for those which depends on actuators + for (vector<SCA_EventManager*>::const_iterator ie=m_eventmanagers.begin(); !(ie==m_eventmanagers.end()); ie++) + (*ie)->UpdateFrame(); + for (set<SmartActuatorPtr>::iterator ia = m_activeActuators.begin();!(ia==m_activeActuators.end());ia++) { //SCA_IActuator* actua = *ia; diff --git a/source/gameengine/GameLogic/SCA_MouseSensor.cpp b/source/gameengine/GameLogic/SCA_MouseSensor.cpp index 42d35837489..2298ddb0743 100644 --- a/source/gameengine/GameLogic/SCA_MouseSensor.cpp +++ b/source/gameengine/GameLogic/SCA_MouseSensor.cpp @@ -84,6 +84,7 @@ SCA_MouseSensor::SCA_MouseSensor(SCA_MouseManager* eventmgr, void SCA_MouseSensor::Init() { m_val = (m_invert)?1:0; /* stores the latest attribute */ + m_reset = true; } SCA_MouseSensor::~SCA_MouseSensor() @@ -95,9 +96,10 @@ SCA_MouseSensor::~SCA_MouseSensor() CValue* SCA_MouseSensor::GetReplica() { - CValue* replica = new SCA_MouseSensor(*this); + SCA_MouseSensor* replica = new SCA_MouseSensor(*this); // this will copy properties and so on... CValue::AddDataToReplica(replica); + replica->Init(); return replica; } @@ -132,6 +134,7 @@ SCA_IInputDevice::KX_EnumInputs SCA_MouseSensor::GetHotKey() bool SCA_MouseSensor::Evaluate(CValue* event) { bool result = false; + bool reset = m_reset && m_level; SCA_IInputDevice* mousedev = m_pMouseMgr->GetInputDevice(); @@ -143,7 +146,7 @@ bool SCA_MouseSensor::Evaluate(CValue* event) /* both MOUSEX and MOUSEY. Treat all of these as key-presses. */ /* So, treat KX_MOUSESENSORMODE_POSITION as */ /* KX_MOUSESENSORMODE_POSITIONX || KX_MOUSESENSORMODE_POSITIONY */ - + m_reset = false; switch (m_mousemode) { case KX_MOUSESENSORMODE_LEFTBUTTON: case KX_MOUSESENSORMODE_MIDDLEBUTTON: @@ -168,9 +171,9 @@ bool SCA_MouseSensor::Evaluate(CValue* event) { if (m_val == 0) { + m_val = 1; if (m_level) { - m_val = 1; result = true; } } @@ -222,6 +225,9 @@ bool SCA_MouseSensor::Evaluate(CValue* event) ; /* error */ } + if (reset) + // force an event + result = true; return result; } diff --git a/source/gameengine/GameLogic/SCA_PropertySensor.cpp b/source/gameengine/GameLogic/SCA_PropertySensor.cpp index 655e9060238..c50c011cc63 100644 --- a/source/gameengine/GameLogic/SCA_PropertySensor.cpp +++ b/source/gameengine/GameLogic/SCA_PropertySensor.cpp @@ -78,6 +78,7 @@ void SCA_PropertySensor::Init() { m_recentresult = false; m_lastresult = m_invert?true:false; + m_reset = true; } void SCA_PropertySensor::PrecalculateRangeExpression() @@ -111,6 +112,7 @@ CValue* SCA_PropertySensor::GetReplica() SCA_PropertySensor* replica = new SCA_PropertySensor(*this); // m_range_expr must be recalculated on replica! CValue::AddDataToReplica(replica); + replica->Init(); replica->m_range_expr = NULL; if (replica->m_checktype==KX_PROPSENSOR_INTERVAL) @@ -153,14 +155,15 @@ SCA_PropertySensor::~SCA_PropertySensor() bool SCA_PropertySensor::Evaluate(CValue* event) { bool result = CheckPropertyCondition(); + bool reset = m_reset && m_level; + m_reset = false; if (m_lastresult!=result) { m_lastresult = result; return true; } - - return false; + return (reset) ? true : false; } diff --git a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp index bd843d97199..80288a72485 100644 --- a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp +++ b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp @@ -35,6 +35,7 @@ #include "MT_Point3.h" #include "MT_Matrix3x3.h" #include "KX_GameObject.h" +#include "KX_RayCast.h" #ifdef HAVE_CONFIG_H #include <config.h> @@ -45,35 +46,54 @@ /* ------------------------------------------------------------------------- */ KX_ConstraintActuator::KX_ConstraintActuator(SCA_IObject *gameobj, - int dampTime, + int posDampTime, + int rotDampTime, float minBound, float maxBound, + float refDir[3], int locrotxyz, - PyTypeObject* T) - : SCA_IActuator(gameobj, T) + int time, + int option, + char *property, + PyTypeObject* T) : + m_refDirection(refDir), + m_currentTime(0), + SCA_IActuator(gameobj, T) { - m_dampTime = dampTime; + m_posDampTime = posDampTime; + m_rotDampTime = rotDampTime; m_locrot = locrotxyz; + m_option = option; + m_activeTime = time; + if (property) { + strncpy(m_property, property, sizeof(m_property)); + m_property[sizeof(m_property)-1] = 0; + } else { + m_property[0] = 0; + } /* 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_LOCX: - case KX_ACT_CONSTRAINT_LOCY: - case KX_ACT_CONSTRAINT_LOCZ: + case KX_ACT_CONSTRAINT_ORIX: + case KX_ACT_CONSTRAINT_ORIY: + case KX_ACT_CONSTRAINT_ORIZ: + { + MT_Scalar len = m_refDirection.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 /= len; + } + } + break; + default: m_minimumBound = minBound; m_maximumBound = maxBound; break; - case KX_ACT_CONSTRAINT_ROTX: - case KX_ACT_CONSTRAINT_ROTY: - case KX_ACT_CONSTRAINT_ROTZ: - /* The user interface asks for degrees, we are radian. */ - m_minimumBound = MT_radians(minBound); - m_maximumBound = MT_radians(maxBound); - break; - default: - ; /* error */ } } /* End of constructor */ @@ -83,77 +103,239 @@ KX_ConstraintActuator::~KX_ConstraintActuator() // there's nothing to be done here, really.... } /* end of destructor */ -bool KX_ConstraintActuator::Update(double curtime, bool frame) +bool KX_ConstraintActuator::RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data) { - bool result = false; - bool bNegativeEvent = IsNegativeEvent(); - RemoveAllEvents(); - - if (bNegativeEvent) - return false; // do nothing on negative events - - /* 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... Somthing to look at later. */ - KX_GameObject *parent = (KX_GameObject*) GetParent(); - MT_Point3 position = parent->NodeGetWorldPosition(); - MT_Matrix3x3 rotation = parent->NodeGetWorldOrientation(); -// MT_Vector3 eulerrot = rotation.getEuler(); + KX_GameObject* hitKXObj = client->m_gameobject; - switch (m_locrot) { - case KX_ACT_CONSTRAINT_LOCX: - Clamp(position[0], m_minimumBound, m_maximumBound); - result = true; - break; - case KX_ACT_CONSTRAINT_LOCY: - Clamp(position[1], m_minimumBound, m_maximumBound); - result = true; - break; - case KX_ACT_CONSTRAINT_LOCZ: - Clamp(position[2], m_minimumBound, m_maximumBound); - result = true; - break; - -// case KX_ACT_CONSTRAINT_ROTX: -// /* The angles are Euler angles (I think that's what they are called) */ -// /* but we need to convert from/to the MT_Matrix3x3. */ -// Clamp(eulerrot[0], m_minimumBound, m_maximumBound); -// break; -// case KX_ACT_CONSTRAINT_ROTY: -// Clamp(eulerrot[1], m_minimumBound, m_maximumBound); -// break; -// case KX_ACT_CONSTRAINT_ROTZ: -// Clamp(eulerrot[2], m_minimumBound, m_maximumBound); -// break; -// default: -// ; /* error */ + if (client->m_type > KX_ClientObjectInfo::ACTOR) + { + // false hit + return false; } + bool bFound = false; - /* Will be replaced by a filtered clamp. */ - + if (m_property[0] == 0) + { + bFound = true; + } + else + { + if (m_option & KX_ACT_CONSTRAINT_MATERIAL) + { + if (client->m_auxilary_info) + { + bFound = !strcmp(m_property, ((char*)client->m_auxilary_info)); + } + } + else + { + bFound = hitKXObj->GetProperty(m_property) != NULL; + } + } - switch (m_locrot) { - case KX_ACT_CONSTRAINT_LOCX: - case KX_ACT_CONSTRAINT_LOCY: - case KX_ACT_CONSTRAINT_LOCZ: - parent->NodeSetLocalPosition(position); - break; + return bFound; +} +bool KX_ConstraintActuator::Update(double curtime, bool frame) +{ -// case KX_ACT_CONSTRAINT_ROTX: -// case KX_ACT_CONSTRAINT_ROTY: -// case KX_ACT_CONSTRAINT_ROTZ: -// rotation.setEuler(eulerrot); -// parent->NodeSetLocalOrientation(rotation); - break; + bool result = false; + bool bNegativeEvent = IsNegativeEvent(); + RemoveAllEvents(); - default: - ; /* error */ + 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... Somthing to look at later. */ + KX_GameObject *obj = (KX_GameObject*) GetParent(); + MT_Point3 position = obj->NodeGetWorldPosition(); + MT_Point3 newposition; + MT_Vector3 direction; + MT_Matrix3x3 rotation = obj->NodeGetWorldOrientation(); + MT_Scalar filter, newdistance; + int axis, sign; + + if (m_posDampTime) { + filter = m_posDampTime/(1.0+m_posDampTime); + } + 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; + case KX_ACT_CONSTRAINT_ORIZ: + direction[0] = rotation[0][2]; + direction[1] = rotation[1][2]; + direction[2] = rotation[2][2]; + axis = 2; + break; + } + // apply damping on the direction + if (m_posDampTime) { + direction = filter*direction + (1.0-filter)*m_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_DIRMX: + case KX_ACT_CONSTRAINT_DIRMY: + case KX_ACT_CONSTRAINT_DIRMZ: + switch (m_locrot) { + case KX_ACT_CONSTRAINT_DIRPX: + direction[0] = rotation[0][0]; + direction[1] = rotation[1][0]; + direction[2] = rotation[2][0]; + axis = 0; // axis according to KX_GameObject::AlignAxisToVect() + sign = 1; // X axis will be anti parrallel to normal + break; + case KX_ACT_CONSTRAINT_DIRPY: + direction[0] = rotation[0][1]; + direction[1] = rotation[1][1]; + direction[2] = rotation[2][1]; + axis = 1; + sign = 1; + break; + case KX_ACT_CONSTRAINT_DIRPZ: + direction[0] = rotation[0][2]; + direction[1] = rotation[1][2]; + direction[2] = rotation[2][2]; + axis = 2; + sign = 1; + break; + case KX_ACT_CONSTRAINT_DIRMX: + direction[0] = -rotation[0][0]; + direction[1] = -rotation[1][0]; + direction[2] = -rotation[2][0]; + axis = 0; + sign = 0; + break; + case KX_ACT_CONSTRAINT_DIRMY: + direction[0] = -rotation[0][1]; + direction[1] = -rotation[1][1]; + direction[2] = -rotation[2][1]; + axis = 1; + sign = 0; + break; + case KX_ACT_CONSTRAINT_DIRMZ: + direction[0] = -rotation[0][2]; + direction[1] = -rotation[1][2]; + direction[2] = -rotation[2][2]; + axis = 2; + sign = 0; + break; + } + direction.normalize(); + { + MT_Point3 topoint = position + (m_maximumBound) * direction; + MT_Point3 resultpoint; + MT_Vector3 resultnormal; + PHY_IPhysicsEnvironment* pe = obj->GetPhysicsEnvironment(); + KX_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(); + } + } + result = KX_RayCast::RayTest(spc, pe, position, topoint, resultpoint, resultnormal, KX_RayCast::Callback<KX_ConstraintActuator>(this)); + + if (result) { + // 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) { + // the new orientation must be so that the axis is parallel to normal + if (sign) + resultnormal = -resultnormal; + // apply damping on the direction + if (m_rotDampTime) { + MT_Scalar rotFilter = 1.0/(1.0+m_rotDampTime); + resultnormal = (-m_rotDampTime*rotFilter)*direction + rotFilter*resultnormal; + } else if (m_posDampTime) { + resultnormal = -filter*direction + (1.0-filter)*resultnormal; + } + obj->AlignAxisToVect(resultnormal, axis); + direction = -resultnormal; + } + if (m_option & KX_ACT_CONSTRAINT_DISTANCE) { + if (m_posDampTime) { + newdistance = filter*(position-resultpoint).length()+(1.0-filter)*m_minimumBound; + } else { + newdistance = m_minimumBound; + } + } else { + newdistance = (position-resultpoint).length(); + } + newposition = resultpoint-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_LOCX: + case KX_ACT_CONSTRAINT_LOCY: + case KX_ACT_CONSTRAINT_LOCZ: + newposition = position; + 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; + } + break; + } + 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) */ @@ -214,10 +396,24 @@ PyParentObject KX_ConstraintActuator::Parents[] = { PyMethodDef KX_ConstraintActuator::Methods[] = { {"setDamp", (PyCFunction) KX_ConstraintActuator::sPySetDamp, METH_VARARGS, SetDamp_doc}, {"getDamp", (PyCFunction) KX_ConstraintActuator::sPyGetDamp, METH_VARARGS, GetDamp_doc}, + {"setRotDamp", (PyCFunction) KX_ConstraintActuator::sPySetRotDamp, METH_VARARGS, SetRotDamp_doc}, + {"getRotDamp", (PyCFunction) KX_ConstraintActuator::sPyGetRotDamp, METH_VARARGS, GetRotDamp_doc}, + {"setDirection", (PyCFunction) KX_ConstraintActuator::sPySetDirection, METH_VARARGS, SetDirection_doc}, + {"getDirection", (PyCFunction) KX_ConstraintActuator::sPyGetDirection, METH_VARARGS, GetDirection_doc}, + {"setOption", (PyCFunction) KX_ConstraintActuator::sPySetOption, METH_VARARGS, SetOption_doc}, + {"getOption", (PyCFunction) KX_ConstraintActuator::sPyGetOption, METH_VARARGS, GetOption_doc}, + {"setTime", (PyCFunction) KX_ConstraintActuator::sPySetTime, METH_VARARGS, SetTime_doc}, + {"getTime", (PyCFunction) KX_ConstraintActuator::sPyGetTime, METH_VARARGS, GetTime_doc}, + {"setProperty", (PyCFunction) KX_ConstraintActuator::sPySetProperty, METH_VARARGS, SetProperty_doc}, + {"getProperty", (PyCFunction) KX_ConstraintActuator::sPyGetProperty, METH_VARARGS, GetProperty_doc}, {"setMin", (PyCFunction) KX_ConstraintActuator::sPySetMin, METH_VARARGS, SetMin_doc}, {"getMin", (PyCFunction) KX_ConstraintActuator::sPyGetMin, METH_VARARGS, GetMin_doc}, + {"setDistance", (PyCFunction) KX_ConstraintActuator::sPySetMin, METH_VARARGS, SetDistance_doc}, + {"getDistance", (PyCFunction) KX_ConstraintActuator::sPyGetMin, METH_VARARGS, GetDistance_doc}, {"setMax", (PyCFunction) KX_ConstraintActuator::sPySetMax, METH_VARARGS, SetMax_doc}, {"getMax", (PyCFunction) KX_ConstraintActuator::sPyGetMax, METH_VARARGS, GetMax_doc}, + {"setRayLength", (PyCFunction) KX_ConstraintActuator::sPySetMax, METH_VARARGS, SetRayLength_doc}, + {"getRayLength", (PyCFunction) KX_ConstraintActuator::sPyGetMax, METH_VARARGS, GetRayLength_doc}, {"setLimit", (PyCFunction) KX_ConstraintActuator::sPySetLimit, METH_VARARGS, SetLimit_doc}, {"getLimit", (PyCFunction) KX_ConstraintActuator::sPyGetLimit, METH_VARARGS, GetLimit_doc}, {NULL,NULL} //Sentinel @@ -231,7 +427,7 @@ PyObject* KX_ConstraintActuator::_getattr(const STR_String& attr) { char KX_ConstraintActuator::SetDamp_doc[] = "setDamp(duration)\n" "\t- duration: integer\n" -"\tSets the time with which the constraint application is delayed.\n" +"\tSets the time constant of the orientation and distance constraint.\n" "\tIf the duration is negative, it is set to 0.\n"; PyObject* KX_ConstraintActuator::PySetDamp(PyObject* self, PyObject* args, @@ -241,21 +437,192 @@ PyObject* KX_ConstraintActuator::PySetDamp(PyObject* self, return NULL; } - m_dampTime = dampArg; - if (m_dampTime < 0) m_dampTime = 0; + m_posDampTime = dampArg; + if (m_posDampTime < 0) m_posDampTime = 0; Py_Return; } /* 3. getDamp */ char KX_ConstraintActuator::GetDamp_doc[] = -"GetDamp()\n" -"\tReturns the damping time for application of the constraint.\n"; +"getDamp()\n" +"\tReturns the damping parameter.\n"; PyObject* KX_ConstraintActuator::PyGetDamp(PyObject* self, PyObject* args, PyObject* kwds){ - return PyInt_FromLong(m_dampTime); + return PyInt_FromLong(m_posDampTime); } +/* 2. setRotDamp */ +char KX_ConstraintActuator::SetRotDamp_doc[] = +"setRotDamp(duration)\n" +"\t- duration: integer\n" +"\tSets the time constant of the orientation constraint.\n" +"\tIf the duration is negative, it is set to 0.\n"; +PyObject* KX_ConstraintActuator::PySetRotDamp(PyObject* self, + PyObject* args, + PyObject* kwds) { + int dampArg; + if(!PyArg_ParseTuple(args, "i", &dampArg)) { + return NULL; + } + + m_rotDampTime = dampArg; + if (m_rotDampTime < 0) m_rotDampTime = 0; + + Py_Return; +} +/* 3. getRotDamp */ +char KX_ConstraintActuator::GetRotDamp_doc[] = +"getRotDamp()\n" +"\tReturns the damping time for application of the constraint.\n"; +PyObject* KX_ConstraintActuator::PyGetRotDamp(PyObject* self, + PyObject* args, + PyObject* kwds){ + return PyInt_FromLong(m_rotDampTime); +} + +/* 2. setDirection */ +char KX_ConstraintActuator::SetDirection_doc[] = +"setDirection(vector)\n" +"\t- vector: 3-tuple\n" +"\tSets the reference direction in world coordinate for the orientation constraint.\n"; +PyObject* KX_ConstraintActuator::PySetDirection(PyObject* self, + PyObject* args, + PyObject* kwds) { + float x, y, z; + MT_Scalar len; + MT_Vector3 dir; + + if(!PyArg_ParseTuple(args, "(fff)", &x, &y, &z)) { + return NULL; + } + dir[0] = x; + dir[1] = y; + dir[2] = z; + len = dir.length(); + if (MT_fuzzyZero(len)) { + std::cout << "Invalid direction" << std::endl; + return NULL; + } + m_refDirection = dir/len; + + Py_Return; +} +/* 3. getDirection */ +char KX_ConstraintActuator::GetDirection_doc[] = +"getDirection()\n" +"\tReturns the reference direction of the orientation constraint as a 3-tuple.\n"; +PyObject* KX_ConstraintActuator::PyGetDirection(PyObject* self, + PyObject* args, + PyObject* kwds){ + PyObject *retVal = PyList_New(3); + + PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_refDirection[0])); + PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_refDirection[1])); + PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_refDirection[2])); + return retVal; +} + +/* 2. setOption */ +char KX_ConstraintActuator::SetOption_doc[] = +"setOption(option)\n" +"\t- option: integer\n" +"\tSets several options of the distance constraint.\n" +"\tBinary combination of the following values:\n" +"\t\t 64 : Activate alignment to surface\n" +"\t\t128 : Detect material rather than property\n" +"\t\t256 : No deactivation if ray does not hit target\n" +"\t\t512 : Activate distance control\n"; +PyObject* KX_ConstraintActuator::PySetOption(PyObject* self, + PyObject* args, + PyObject* kwds) { + int option; + if(!PyArg_ParseTuple(args, "i", &option)) { + return NULL; + } + + m_option = option; + + Py_Return; +} +/* 3. getOption */ +char KX_ConstraintActuator::GetOption_doc[] = +"getOption()\n" +"\tReturns the option parameter.\n"; +PyObject* KX_ConstraintActuator::PyGetOption(PyObject* self, + PyObject* args, + PyObject* kwds){ + return PyInt_FromLong(m_option); +} + +/* 2. setTime */ +char KX_ConstraintActuator::SetTime_doc[] = +"setTime(duration)\n" +"\t- duration: integer\n" +"\tSets the activation time of the actuator.\n" +"\tThe actuator disables itself after this many frame.\n" +"\tIf set to 0 or negative, the actuator is not limited in time.\n"; +PyObject* KX_ConstraintActuator::PySetTime(PyObject* self, + PyObject* args, + PyObject* kwds) { + int t; + if(!PyArg_ParseTuple(args, "i", &t)) { + return NULL; + } + + if (t < 0) + t = 0; + m_activeTime = t; + + Py_Return; +} +/* 3. getTime */ +char KX_ConstraintActuator::GetTime_doc[] = +"getTime()\n" +"\tReturns the time parameter.\n"; +PyObject* KX_ConstraintActuator::PyGetTime(PyObject* self, + PyObject* args, + PyObject* kwds){ + return PyInt_FromLong(m_activeTime); +} + +/* 2. setProperty */ +char KX_ConstraintActuator::SetProperty_doc[] = +"setProperty(property)\n" +"\t- property: string\n" +"\tSets the name of the property or material for the ray detection of the distance constraint.\n" +"\tIf empty, the ray will detect any collisioning object.\n"; +PyObject* KX_ConstraintActuator::PySetProperty(PyObject* self, + PyObject* args, + PyObject* kwds) { + char *property; + if (!PyArg_ParseTuple(args, "s", &property)) { + return NULL; + } + if (property == NULL) { + m_property[0] = 0; + } else { + strncpy(m_property, property, sizeof(m_property)); + m_property[sizeof(m_property)-1] = 0; + } + + Py_Return; +} +/* 3. getProperty */ +char KX_ConstraintActuator::GetProperty_doc[] = +"getProperty()\n" +"\tReturns the property parameter.\n"; +PyObject* KX_ConstraintActuator::PyGetProperty(PyObject* self, + PyObject* args, + PyObject* kwds){ + return PyString_FromString(m_property); +} + +/* 4. setDistance */ +char KX_ConstraintActuator::SetDistance_doc[] = +"setDistance(distance)\n" +"\t- distance: float\n" +"\tSets the target distance in distance constraint\n"; /* 4. setMin */ char KX_ConstraintActuator::SetMin_doc[] = "setMin(lower_bound)\n" @@ -271,9 +638,7 @@ PyObject* KX_ConstraintActuator::PySetMin(PyObject* self, } switch (m_locrot) { - case KX_ACT_CONSTRAINT_LOCX: - case KX_ACT_CONSTRAINT_LOCY: - case KX_ACT_CONSTRAINT_LOCZ: + default: m_minimumBound = minArg; break; case KX_ACT_CONSTRAINT_ROTX: @@ -281,12 +646,14 @@ PyObject* KX_ConstraintActuator::PySetMin(PyObject* self, case KX_ACT_CONSTRAINT_ROTZ: m_minimumBound = MT_radians(minArg); break; - default: - ; /* error */ } Py_Return; } +/* 5. getDistance */ +char KX_ConstraintActuator::GetDistance_doc[] = +"getDistance()\n" +"\tReturns the distance parameter \n"; /* 5. getMin */ char KX_ConstraintActuator::GetMin_doc[] = "getMin()\n" @@ -298,6 +665,11 @@ PyObject* KX_ConstraintActuator::PyGetMin(PyObject* self, return PyFloat_FromDouble(m_minimumBound); } +/* 6. setRayLength */ +char KX_ConstraintActuator::SetRayLength_doc[] = +"setRayLength(length)\n" +"\t- length: float\n" +"\tSets the maximum ray length of the distance constraint\n"; /* 6. setMax */ char KX_ConstraintActuator::SetMax_doc[] = "setMax(upper_bound)\n" @@ -313,9 +685,7 @@ PyObject* KX_ConstraintActuator::PySetMax(PyObject* self, } switch (m_locrot) { - case KX_ACT_CONSTRAINT_LOCX: - case KX_ACT_CONSTRAINT_LOCY: - case KX_ACT_CONSTRAINT_LOCZ: + default: m_maximumBound = maxArg; break; case KX_ACT_CONSTRAINT_ROTX: @@ -323,12 +693,14 @@ PyObject* KX_ConstraintActuator::PySetMax(PyObject* self, case KX_ACT_CONSTRAINT_ROTZ: m_maximumBound = MT_radians(maxArg); break; - default: - ; /* error */ } Py_Return; } +/* 7. getRayLength */ +char KX_ConstraintActuator::GetRayLength_doc[] = +"getRayLength()\n" +"\tReturns the length of the ray\n"; /* 7. getMax */ char KX_ConstraintActuator::GetMax_doc[] = "getMax()\n" @@ -345,9 +717,19 @@ PyObject* KX_ConstraintActuator::PyGetMax(PyObject* self, /* 8. setLimit */ char KX_ConstraintActuator::SetLimit_doc[] = "setLimit(type)\n" -"\t- type: KX_CONSTRAINTACT_LOCX, KX_CONSTRAINTACT_LOCY,\n" -"\t KX_CONSTRAINTACT_LOCZ, KX_CONSTRAINTACT_ROTX,\n" -"\t KX_CONSTRAINTACT_ROTY, or KX_CONSTRAINTACT_ROTZ.\n" +"\t- type: integer\n" +"\t 1 : LocX\n" +"\t 2 : LocY\n" +"\t 3 : LocZ\n" +"\t 7 : Distance along +X axis\n" +"\t 8 : Distance along +Y axis\n" +"\t 9 : Distance along +Z axis\n" +"\t 10 : Distance along -X axis\n" +"\t 11 : Distance along -Y axis\n" +"\t 12 : Distance along -Z axis\n" +"\t 13 : Align X axis\n" +"\t 14 : Align Y axis\n" +"\t 15 : Align Z axis\n" "\tSets the type of constraint.\n"; PyObject* KX_ConstraintActuator::PySetLimit(PyObject* self, PyObject* args, @@ -363,7 +745,7 @@ PyObject* KX_ConstraintActuator::PySetLimit(PyObject* self, } /* 9. getLimit */ char KX_ConstraintActuator::GetLimit_doc[] = -"getLimit(type)\n" +"getLimit()\n" "\tReturns the type of constraint.\n"; PyObject* KX_ConstraintActuator::PyGetLimit(PyObject* self, PyObject* args, diff --git a/source/gameengine/Ketsji/KX_ConstraintActuator.h b/source/gameengine/Ketsji/KX_ConstraintActuator.h index a21a5f30de6..5a1d4d23217 100644 --- a/source/gameengine/Ketsji/KX_ConstraintActuator.h +++ b/source/gameengine/Ketsji/KX_ConstraintActuator.h @@ -34,19 +34,31 @@ #include "SCA_IActuator.h" #include "MT_Scalar.h" +#include "MT_Vector3.h" +#include "KX_ClientObjectInfo.h" class KX_ConstraintActuator : public SCA_IActuator { Py_Header; protected: // Damp time (int), - int m_dampTime; - // min (float), + int m_posDampTime; + int m_rotDampTime; + // min (float) float m_minimumBound; - // max (float), + // max (float) float m_maximumBound; + // reference direction + MT_Vector3 m_refDirection; // locrotxyz choice (pick one): only one choice allowed at a time! int m_locrot; + // active time of actuator + int m_activeTime; + int m_currentTime; + // option + int m_option; + // property to check + char m_property[32]; /** * Clamp <var> to <min>, <max>. Borders are included (in as far as @@ -56,6 +68,7 @@ protected: public: + // m_locrot enum KX_CONSTRAINTTYPE { KX_ACT_CONSTRAINT_NODEF = 0, KX_ACT_CONSTRAINT_LOCX, @@ -64,16 +77,37 @@ protected: KX_ACT_CONSTRAINT_ROTX, KX_ACT_CONSTRAINT_ROTY, KX_ACT_CONSTRAINT_ROTZ, + KX_ACT_CONSTRAINT_DIRPX, + KX_ACT_CONSTRAINT_DIRPY, + KX_ACT_CONSTRAINT_DIRPZ, + KX_ACT_CONSTRAINT_DIRMX, + KX_ACT_CONSTRAINT_DIRMY, + KX_ACT_CONSTRAINT_DIRMZ, + KX_ACT_CONSTRAINT_ORIX, + KX_ACT_CONSTRAINT_ORIY, + KX_ACT_CONSTRAINT_ORIZ, KX_ACT_CONSTRAINT_MAX }; - + // match ACT_CONST_... values from BIF_interface.h + enum KX_CONSTRAINTOPT { + KX_ACT_CONSTRAINT_NORMAL = 64, + KX_ACT_CONSTRAINT_MATERIAL = 128, + KX_ACT_CONSTRAINT_PERMANENT = 256, + KX_ACT_CONSTRAINT_DISTANCE = 512 + }; bool IsValidMode(KX_CONSTRAINTTYPE m); + bool RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data); KX_ConstraintActuator(SCA_IObject* gameobj, - int damptime, + int posDamptime, + int rotDampTime, float min, float max, + float refDir[3], int locrot, + int time, + int option, + char *property, PyTypeObject* T=&Type); virtual ~KX_ConstraintActuator(); virtual CValue* GetReplica() { @@ -94,13 +128,26 @@ protected: KX_PYMETHOD_DOC(KX_ConstraintActuator,SetDamp); KX_PYMETHOD_DOC(KX_ConstraintActuator,GetDamp); + KX_PYMETHOD_DOC(KX_ConstraintActuator,SetRotDamp); + KX_PYMETHOD_DOC(KX_ConstraintActuator,GetRotDamp); + KX_PYMETHOD_DOC(KX_ConstraintActuator,SetDirection); + KX_PYMETHOD_DOC(KX_ConstraintActuator,GetDirection); + KX_PYMETHOD_DOC(KX_ConstraintActuator,SetOption); + KX_PYMETHOD_DOC(KX_ConstraintActuator,GetOption); + KX_PYMETHOD_DOC(KX_ConstraintActuator,SetTime); + KX_PYMETHOD_DOC(KX_ConstraintActuator,GetTime); + KX_PYMETHOD_DOC(KX_ConstraintActuator,SetProperty); + KX_PYMETHOD_DOC(KX_ConstraintActuator,GetProperty); KX_PYMETHOD_DOC(KX_ConstraintActuator,SetMin); KX_PYMETHOD_DOC(KX_ConstraintActuator,GetMin); + static char SetDistance_doc[]; + static char GetDistance_doc[]; KX_PYMETHOD_DOC(KX_ConstraintActuator,SetMax); KX_PYMETHOD_DOC(KX_ConstraintActuator,GetMax); + static char SetRayLength_doc[]; + static char GetRayLength_doc[]; KX_PYMETHOD_DOC(KX_ConstraintActuator,SetLimit); KX_PYMETHOD_DOC(KX_ConstraintActuator,GetLimit); - }; #endif //__KX_CONSTRAINTACTUATOR diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp index c4925cb772c..d6d2254850a 100644 --- a/source/gameengine/Ketsji/KX_GameObject.cpp +++ b/source/gameengine/Ketsji/KX_GameObject.cpp @@ -644,6 +644,15 @@ void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis) NodeSetLocalOrientation(orimat); } +MT_Scalar KX_GameObject::GetMass() +{ + if (m_pPhysicsController1) + { + return m_pPhysicsController1->GetMass(); + } + return 0.0; +} + MT_Vector3 KX_GameObject::GetLinearVelocity(bool local) { MT_Vector3 velocity(0.0,0.0,0.0), locvel; @@ -735,6 +744,31 @@ void KX_GameObject::NodeSetRelativeScale(const MT_Vector3& scale) GetSGNode()->RelativeScale(scale); } +void KX_GameObject::NodeSetWorldPosition(const MT_Point3& trans) +{ + SG_Node* parent = m_pSGNode->GetSGParent(); + if (parent != NULL) + { + // Make sure the objects have some scale + MT_Vector3 scale = parent->GetWorldScaling(); + if (fabs(scale[0]) < FLT_EPSILON || + fabs(scale[1]) < FLT_EPSILON || + fabs(scale[2]) < FLT_EPSILON) + { + return; + } + scale[0] = 1.0/scale[0]; + scale[1] = 1.0/scale[1]; + scale[2] = 1.0/scale[2]; + MT_Matrix3x3 invori = parent->GetWorldOrientation().inverse(); + MT_Vector3 newpos = invori*(trans-parent->GetWorldPosition())*scale; + NodeSetLocalPosition(MT_Point3(newpos[0],newpos[1],newpos[2])); + } + else + { + NodeSetLocalPosition(trans); + } +} void KX_GameObject::NodeUpdateGS(double time,bool bInitiator) diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h index 31b56df5368..5e44a36515d 100644 --- a/source/gameengine/Ketsji/KX_GameObject.h +++ b/source/gameengine/Ketsji/KX_GameObject.h @@ -258,6 +258,12 @@ public: bool local=false ); + /** + * Return the mass of the object + */ + MT_Scalar + GetMass(); + /** * Return the angular velocity of the game object. */ @@ -332,6 +338,9 @@ public: void NodeSetRelativeScale( const MT_Vector3& scale ); + // adapt local position so that world position is set to desired position + void NodeSetWorldPosition(const MT_Point3& trans); + void NodeUpdateGS( double time, diff --git a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp index f89d32bbe66..db0bef8b7e1 100644 --- a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp +++ b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp @@ -77,15 +77,17 @@ void KX_MouseFocusSensor::Init() m_mouse_over_in_previous_frame = (m_invert)?true:false; m_positive_event = false; m_hitObject = 0; + m_reset = true; } bool KX_MouseFocusSensor::Evaluate(CValue* event) { bool result = false; bool obHasFocus = false; + bool reset = m_reset && m_level; // cout << "evaluate focus mouse sensor "<<endl; - + m_reset = false; if (m_focusmode) { /* Focus behaviour required. Test mouse-on. The rest is * equivalent to handling a key. */ @@ -102,6 +104,10 @@ bool KX_MouseFocusSensor::Evaluate(CValue* event) result = true; } } + if (reset) { + // force an event + result = true; + } } else { /* No focus behaviour required: revert to the basic mode. This * mode is never used, because the converter never makes this diff --git a/source/gameengine/Ketsji/KX_NearSensor.cpp b/source/gameengine/Ketsji/KX_NearSensor.cpp index 4086ac53f2a..d69871275b9 100644 --- a/source/gameengine/Ketsji/KX_NearSensor.cpp +++ b/source/gameengine/Ketsji/KX_NearSensor.cpp @@ -102,10 +102,7 @@ CValue* KX_NearSensor::GetReplica() { KX_NearSensor* replica = new KX_NearSensor(*this); replica->m_colliders = new CListValue(); - replica->m_bCollision = false; - replica->m_bTriggered= false; - replica->m_hitObject = NULL; - replica->m_bLastTriggered = false; + replica->Init(); // this will copy properties and so on... CValue::AddDataToReplica(replica); diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.cpp b/source/gameengine/Ketsji/KX_ObjectActuator.cpp index 03ae14997ab..9ac0b4d4703 100644 --- a/source/gameengine/Ketsji/KX_ObjectActuator.cpp +++ b/source/gameengine/Ketsji/KX_ObjectActuator.cpp @@ -68,8 +68,15 @@ KX_ObjectActuator( m_bitLocalFlag (flag), m_active_combined_velocity (false), m_linear_damping_active(false), - m_angular_damping_active(false) + m_angular_damping_active(false), + m_error_accumulator(0.0,0.0,0.0), + m_previous_error(0.0,0.0,0.0) { + if (m_bitLocalFlag.ServoControl) + { + // in servo motion, the force is local if the target velocity is local + m_bitLocalFlag.Force = m_bitLocalFlag.LinearVelocity; + } UpdateFuzzyFlags(); } @@ -87,105 +94,151 @@ bool KX_ObjectActuator::Update() // it should reconcile the externally set velocity with it's // own velocity. if (m_active_combined_velocity) { - parent->ResolveCombinedVelocities( - m_linear_velocity, - m_angular_velocity, - (m_bitLocalFlag.LinearVelocity) != 0, - (m_bitLocalFlag.AngularVelocity) != 0 - ); + if (parent) + parent->ResolveCombinedVelocities( + m_linear_velocity, + m_angular_velocity, + (m_bitLocalFlag.LinearVelocity) != 0, + (m_bitLocalFlag.AngularVelocity) != 0 + ); m_active_combined_velocity = false; } m_linear_damping_active = false; + m_angular_damping_active = false; + m_error_accumulator.setValue(0.0,0.0,0.0); + m_previous_error.setValue(0.0,0.0,0.0); return false; - } else - if (parent) + } else if (parent) { - if (!m_bitLocalFlag.ZeroForce) + if (m_bitLocalFlag.ServoControl) { - if (m_bitLocalFlag.ClampVelocity && !m_bitLocalFlag.ZeroLinearVelocity) + // In this mode, we try to reach a target speed using force + // As we don't know the friction, we must implement a generic + // servo control to achieve the speed in a configurable + // v = current velocity + // V = target velocity + // e = V-v = speed error + // dt = time interval since previous update + // I = sum(e(t)*dt) + // dv = e(t) - e(t-1) + // KP, KD, KI : coefficient + // F = KP*e+KI*I+KD*dv + MT_Scalar mass = parent->GetMass(); + if (mass < MT_EPSILON) + return false; + MT_Vector3 v = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity); + MT_Vector3 e = m_linear_velocity - v; + MT_Vector3 dv = e - m_previous_error; + MT_Vector3 I = m_error_accumulator + e; + + m_force = m_torque.x()*e+m_torque.y()*I+m_torque.z()*dv; + // to automatically adapt the PID coefficient to mass; + m_force *= mass; + if (m_bitLocalFlag.Torque) { - // The user is requesting not to exceed the velocity set in m_linear_velocity - // The verification is done by projecting the actual speed along the linV direction - // and comparing it with the linV vector length - MT_Vector3 linV; - linV = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity); - if (linV.dot(m_linear_velocity) < m_linear_length2) - parent->ApplyForce(m_force,(m_bitLocalFlag.Force) != 0); - } else + if (m_force[0] > m_dloc[0]) + { + m_force[0] = m_dloc[0]; + I[0] = m_error_accumulator[0]; + } else if (m_force[0] < m_drot[0]) + { + m_force[0] = m_drot[0]; + I[0] = m_error_accumulator[0]; + } + } + if (m_bitLocalFlag.DLoc) { - parent->ApplyForce(m_force,(m_bitLocalFlag.Force) != 0); + if (m_force[1] > m_dloc[1]) + { + m_force[1] = m_dloc[1]; + I[1] = m_error_accumulator[1]; + } else if (m_force[1] < m_drot[1]) + { + m_force[1] = m_drot[1]; + I[1] = m_error_accumulator[1]; + } } - } - if (!m_bitLocalFlag.ZeroTorque) + if (m_bitLocalFlag.DRot) + { + if (m_force[2] > m_dloc[2]) + { + m_force[2] = m_dloc[2]; + I[2] = m_error_accumulator[2]; + } else if (m_force[2] < m_drot[2]) + { + m_force[2] = m_drot[2]; + I[2] = m_error_accumulator[2]; + } + } + m_previous_error = e; + m_error_accumulator = I; + parent->ApplyForce(m_force,(m_bitLocalFlag.LinearVelocity) != 0); + } else { - if (m_bitLocalFlag.ClampVelocity && !m_bitLocalFlag.ZeroAngularVelocity) + if (!m_bitLocalFlag.ZeroForce) { - // The user is requesting not to exceed the velocity set in m_angular_velocity - // The verification is done by projecting the actual speed in the - MT_Vector3 angV; - angV = parent->GetAngularVelocity(m_bitLocalFlag.AngularVelocity); - if (angV.dot(m_angular_velocity) < m_angular_velocity.length2()) - parent->ApplyTorque(m_torque,(m_bitLocalFlag.Torque) != 0); - } else + parent->ApplyForce(m_force,(m_bitLocalFlag.Force) != 0); + } + if (!m_bitLocalFlag.ZeroTorque) { parent->ApplyTorque(m_torque,(m_bitLocalFlag.Torque) != 0); } - } - if (!m_bitLocalFlag.ZeroDLoc) - { - parent->ApplyMovement(m_dloc,(m_bitLocalFlag.DLoc) != 0); - } - if (!m_bitLocalFlag.ZeroDRot) - { - parent->ApplyRotation(m_drot,(m_bitLocalFlag.DRot) != 0); - } - if (!m_bitLocalFlag.ZeroLinearVelocity && !m_bitLocalFlag.ClampVelocity) - { - if (m_bitLocalFlag.AddOrSetLinV) { - parent->addLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0); - } else { + if (!m_bitLocalFlag.ZeroDLoc) + { + parent->ApplyMovement(m_dloc,(m_bitLocalFlag.DLoc) != 0); + } + if (!m_bitLocalFlag.ZeroDRot) + { + parent->ApplyRotation(m_drot,(m_bitLocalFlag.DRot) != 0); + } + if (!m_bitLocalFlag.ZeroLinearVelocity) + { + if (m_bitLocalFlag.AddOrSetLinV) { + parent->addLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0); + } else { + m_active_combined_velocity = true; + if (m_damping > 0) { + MT_Vector3 linV; + if (!m_linear_damping_active) { + // delta and the start speed (depends on the existing speed in that direction) + linV = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity); + // keep only the projection along the desired direction + m_current_linear_factor = linV.dot(m_linear_velocity)/m_linear_length2; + m_linear_damping_active = true; + } + if (m_current_linear_factor < 1.0) + m_current_linear_factor += 1.0/m_damping; + if (m_current_linear_factor > 1.0) + m_current_linear_factor = 1.0; + linV = m_current_linear_factor * m_linear_velocity; + parent->setLinearVelocity(linV,(m_bitLocalFlag.LinearVelocity) != 0); + } else { + parent->setLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0); + } + } + } + if (!m_bitLocalFlag.ZeroAngularVelocity) + { m_active_combined_velocity = true; if (m_damping > 0) { - MT_Vector3 linV; - if (!m_linear_damping_active) { + MT_Vector3 angV; + if (!m_angular_damping_active) { // delta and the start speed (depends on the existing speed in that direction) - linV = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity); + angV = parent->GetAngularVelocity(m_bitLocalFlag.AngularVelocity); // keep only the projection along the desired direction - m_current_linear_factor = linV.dot(m_linear_velocity)/m_linear_length2; - m_linear_damping_active = true; + m_current_angular_factor = angV.dot(m_angular_velocity)/m_angular_length2; + m_angular_damping_active = true; } - if (m_current_linear_factor < 1.0) - m_current_linear_factor += 1.0/m_damping; - if (m_current_linear_factor > 1.0) - m_current_linear_factor = 1.0; - linV = m_current_linear_factor * m_linear_velocity; - parent->setLinearVelocity(linV,(m_bitLocalFlag.LinearVelocity) != 0); + if (m_current_angular_factor < 1.0) + m_current_angular_factor += 1.0/m_damping; + if (m_current_angular_factor > 1.0) + m_current_angular_factor = 1.0; + angV = m_current_angular_factor * m_angular_velocity; + parent->setAngularVelocity(angV,(m_bitLocalFlag.AngularVelocity) != 0); } else { - parent->setLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0); - } - } - } - if (!m_bitLocalFlag.ZeroAngularVelocity && !m_bitLocalFlag.ClampVelocity) - { - m_active_combined_velocity = true; - if (m_damping > 0) { - MT_Vector3 angV; - if (!m_angular_damping_active) { - // delta and the start speed (depends on the existing speed in that direction) - angV = parent->GetAngularVelocity(m_bitLocalFlag.AngularVelocity); - // keep only the projection along the desired direction - m_current_angular_factor = angV.dot(m_angular_velocity)/m_angular_length2; - m_angular_damping_active = true; + parent->setAngularVelocity(m_angular_velocity,(m_bitLocalFlag.AngularVelocity) != 0); } - if (m_current_angular_factor < 1.0) - m_current_angular_factor += 1.0/m_damping; - if (m_current_angular_factor > 1.0) - m_current_angular_factor = 1.0; - angV = m_current_angular_factor * m_angular_velocity; - parent->setAngularVelocity(angV,(m_bitLocalFlag.AngularVelocity) != 0); - } else { - parent->setAngularVelocity(m_angular_velocity,(m_bitLocalFlag.AngularVelocity) != 0); } } @@ -263,8 +316,17 @@ PyMethodDef KX_ObjectActuator::Methods[] = { {"setLinearVelocity", (PyCFunction) KX_ObjectActuator::sPySetLinearVelocity, METH_VARARGS}, {"getAngularVelocity", (PyCFunction) KX_ObjectActuator::sPyGetAngularVelocity, METH_VARARGS}, {"setAngularVelocity", (PyCFunction) KX_ObjectActuator::sPySetAngularVelocity, METH_VARARGS}, - {"setVelocityDamping", (PyCFunction) KX_ObjectActuator::sPySetVelocityDamping, METH_VARARGS}, - {"getVelocityDamping", (PyCFunction) KX_ObjectActuator::sPyGetVelocityDamping, METH_VARARGS}, + {"setDamping", (PyCFunction) KX_ObjectActuator::sPySetDamping, METH_VARARGS}, + {"getDamping", (PyCFunction) KX_ObjectActuator::sPyGetDamping, METH_VARARGS}, + {"setForceLimitX", (PyCFunction) KX_ObjectActuator::sPySetForceLimitX, METH_VARARGS}, + {"getForceLimitX", (PyCFunction) KX_ObjectActuator::sPyGetForceLimitX, METH_VARARGS}, + {"setForceLimitY", (PyCFunction) KX_ObjectActuator::sPySetForceLimitY, METH_VARARGS}, + {"getForceLimitY", (PyCFunction) KX_ObjectActuator::sPyGetForceLimitY, METH_VARARGS}, + {"setForceLimitZ", (PyCFunction) KX_ObjectActuator::sPySetForceLimitZ, METH_VARARGS}, + {"getForceLimitZ", (PyCFunction) KX_ObjectActuator::sPyGetForceLimitZ, METH_VARARGS}, + {"setPID", (PyCFunction) KX_ObjectActuator::sPyGetPID, METH_VARARGS}, + {"getPID", (PyCFunction) KX_ObjectActuator::sPySetPID, METH_VARARGS}, + {NULL,NULL} //Sentinel @@ -411,7 +473,6 @@ PyObject* KX_ObjectActuator::PyGetLinearVelocity(PyObject* self, 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)); - PyList_SetItem(retVal, 4, BoolToPyArg(m_bitLocalFlag.ClampVelocity)); return retVal; } @@ -422,14 +483,12 @@ PyObject* KX_ObjectActuator::PySetLinearVelocity(PyObject* self, PyObject* kwds) { float vecArg[3]; int bToggle = 0; - int bClamp = 0; - if (!PyArg_ParseTuple(args, "fffi|i", &vecArg[0], &vecArg[1], - &vecArg[2], &bToggle, &bClamp)) { + if (!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1], + &vecArg[2], &bToggle)) { return NULL; } m_linear_velocity.setValue(vecArg); m_bitLocalFlag.LinearVelocity = PyArgToBool(bToggle); - m_bitLocalFlag.ClampVelocity = PyArgToBool(bClamp); UpdateFuzzyFlags(); Py_Return; } @@ -445,7 +504,6 @@ PyObject* KX_ObjectActuator::PyGetAngularVelocity(PyObject* self, 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)); - PyList_SetItem(retVal, 4, BoolToPyArg(m_bitLocalFlag.ClampVelocity)); return retVal; } @@ -455,22 +513,20 @@ PyObject* KX_ObjectActuator::PySetAngularVelocity(PyObject* self, PyObject* kwds) { float vecArg[3]; int bToggle = 0; - int bClamp = 0; - if (!PyArg_ParseTuple(args, "fffi|i", &vecArg[0], &vecArg[1], - &vecArg[2], &bToggle, &bClamp)) { + if (!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1], + &vecArg[2], &bToggle)) { return NULL; } m_angular_velocity.setValue(vecArg); m_bitLocalFlag.AngularVelocity = PyArgToBool(bToggle); - m_bitLocalFlag.ClampVelocity = PyArgToBool(bClamp); UpdateFuzzyFlags(); Py_Return; } -/* 13. setVelocityDamping */ -PyObject* KX_ObjectActuator::PySetVelocityDamping(PyObject* self, - PyObject* args, - PyObject* kwds) { +/* 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; @@ -480,11 +536,124 @@ PyObject* KX_ObjectActuator::PySetVelocityDamping(PyObject* self, } /* 13. getVelocityDamping */ -PyObject* KX_ObjectActuator::PyGetVelocityDamping(PyObject* self, - PyObject* args, - PyObject* kwds) { +PyObject* KX_ObjectActuator::PyGetDamping(PyObject* self, + PyObject* args, + PyObject* kwds) { return Py_BuildValue("i",m_damping); } +/* 6. getForceLimitX */ +PyObject* KX_ObjectActuator::PyGetForceLimitX(PyObject* self, + PyObject* args, + PyObject* kwds) +{ + 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; +} + +/* 6. getForceLimitY */ +PyObject* KX_ObjectActuator::PyGetForceLimitY(PyObject* self, + PyObject* args, + PyObject* kwds) +{ + 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; +} + +/* 6. getForceLimitZ */ +PyObject* KX_ObjectActuator::PyGetForceLimitZ(PyObject* self, + PyObject* args, + PyObject* kwds) +{ + 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; +} + +/* 4. getPID */ +PyObject* KX_ObjectActuator::PyGetPID(PyObject* self, + PyObject* args, + PyObject* kwds) +{ + 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; +} + diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.h b/source/gameengine/Ketsji/KX_ObjectActuator.h index ec6dab5cd48..bb74756551f 100644 --- a/source/gameengine/Ketsji/KX_ObjectActuator.h +++ b/source/gameengine/Ketsji/KX_ObjectActuator.h @@ -47,7 +47,6 @@ struct KX_LocalFlags { LinearVelocity(false), AngularVelocity(false), AddOrSetLinV(false), - ClampVelocity(false), ZeroForce(false), ZeroDRot(false), ZeroDLoc(false), @@ -63,7 +62,7 @@ struct KX_LocalFlags { unsigned short LinearVelocity : 1; unsigned short AngularVelocity : 1; unsigned short AddOrSetLinV : 1; - unsigned short ClampVelocity : 1; + unsigned short ServoControl : 1; unsigned short ZeroForce : 1; unsigned short ZeroTorque : 1; unsigned short ZeroDRot : 1; @@ -84,9 +83,13 @@ class KX_ObjectActuator : public SCA_IActuator MT_Vector3 m_angular_velocity; MT_Scalar m_linear_length2; MT_Scalar m_angular_length2; + // used in damping MT_Scalar m_current_linear_factor; MT_Scalar m_current_angular_factor; short m_damping; + // used in servo control + MT_Vector3 m_previous_error; + MT_Vector3 m_error_accumulator; KX_LocalFlags m_bitLocalFlag; // A hack bool -- oh no sorry everyone @@ -164,8 +167,16 @@ public: KX_PYMETHOD(KX_ObjectActuator,SetLinearVelocity); KX_PYMETHOD(KX_ObjectActuator,GetAngularVelocity); KX_PYMETHOD(KX_ObjectActuator,SetAngularVelocity); - KX_PYMETHOD(KX_ObjectActuator,SetVelocityDamping); - KX_PYMETHOD(KX_ObjectActuator,GetVelocityDamping); + KX_PYMETHOD(KX_ObjectActuator,SetDamping); + KX_PYMETHOD(KX_ObjectActuator,GetDamping); + KX_PYMETHOD(KX_ObjectActuator,GetForceLimitX); + KX_PYMETHOD(KX_ObjectActuator,SetForceLimitX); + KX_PYMETHOD(KX_ObjectActuator,GetForceLimitY); + KX_PYMETHOD(KX_ObjectActuator,SetForceLimitY); + KX_PYMETHOD(KX_ObjectActuator,GetForceLimitZ); + KX_PYMETHOD(KX_ObjectActuator,SetForceLimitZ); + KX_PYMETHOD(KX_ObjectActuator,GetPID); + KX_PYMETHOD(KX_ObjectActuator,SetPID); }; #endif //__KX_OBJECTACTUATOR diff --git a/source/gameengine/Ketsji/KX_RaySensor.cpp b/source/gameengine/Ketsji/KX_RaySensor.cpp index e847c59bae1..a416c8c9f89 100644 --- a/source/gameengine/Ketsji/KX_RaySensor.cpp +++ b/source/gameengine/Ketsji/KX_RaySensor.cpp @@ -72,6 +72,7 @@ void KX_RaySensor::Init() m_bTriggered = (m_invert)?true:false; m_rayHit = false; m_hitObject = NULL; + m_reset = true; } KX_RaySensor::~KX_RaySensor() @@ -83,9 +84,10 @@ KX_RaySensor::~KX_RaySensor() CValue* KX_RaySensor::GetReplica() { - CValue* replica = new KX_RaySensor(*this); + KX_RaySensor* replica = new KX_RaySensor(*this); // this will copy properties and so on... CValue::AddDataToReplica(replica); + replica->Init(); return replica; } @@ -151,6 +153,7 @@ bool KX_RaySensor::RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_ bool KX_RaySensor::Evaluate(CValue* event) { bool result = false; + bool reset = m_reset && m_level; m_rayHit = false; m_hitObject = NULL; m_hitPosition = MT_Vector3(0,0,0); @@ -162,6 +165,7 @@ bool KX_RaySensor::Evaluate(CValue* event) MT_Matrix3x3 invmat = matje.inverse(); MT_Vector3 todir; + m_reset = false; switch (m_axis) { case 1: // X @@ -263,7 +267,9 @@ bool KX_RaySensor::Evaluate(CValue* event) } } - + if (reset) + // force an event + result = true; return result; } diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp index a7e91e27df3..337b1af6df7 100644 --- a/source/gameengine/Ketsji/KX_Scene.cpp +++ b/source/gameengine/Ketsji/KX_Scene.cpp @@ -48,6 +48,7 @@ #include "SCA_KeyboardManager.h" #include "SCA_MouseManager.h" #include "SCA_PropertyEventManager.h" +#include "SCA_ActuatorEventManager.h" #include "KX_Camera.h" #include "SCA_JoystickManager.h" @@ -143,6 +144,7 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice, SCA_AlwaysEventManager* alwaysmgr = new SCA_AlwaysEventManager(m_logicmgr); SCA_PropertyEventManager* propmgr = new SCA_PropertyEventManager(m_logicmgr); + SCA_ActuatorEventManager* actmgr = new SCA_ActuatorEventManager(m_logicmgr); SCA_RandomEventManager* rndmgr = new SCA_RandomEventManager(m_logicmgr); KX_RayEventManager* raymgr = new KX_RayEventManager(m_logicmgr); @@ -152,6 +154,7 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice, m_logicmgr->RegisterEventManager(alwaysmgr); m_logicmgr->RegisterEventManager(propmgr); + m_logicmgr->RegisterEventManager(actmgr); m_logicmgr->RegisterEventManager(m_keyboardmgr); m_logicmgr->RegisterEventManager(m_mousemgr); m_logicmgr->RegisterEventManager(m_timemgr); diff --git a/source/gameengine/Ketsji/KX_TouchSensor.cpp b/source/gameengine/Ketsji/KX_TouchSensor.cpp index 5311f059f03..ce3aa1de2ef 100644 --- a/source/gameengine/Ketsji/KX_TouchSensor.cpp +++ b/source/gameengine/Ketsji/KX_TouchSensor.cpp @@ -61,7 +61,9 @@ void KX_TouchSensor::EndFrame() { bool KX_TouchSensor::Evaluate(CValue* event) { bool result = false; + bool reset = m_reset && m_level; + m_reset = false; if (m_bTriggered != m_bLastTriggered) { m_bLastTriggered = m_bTriggered; @@ -69,7 +71,9 @@ bool KX_TouchSensor::Evaluate(CValue* event) m_hitObject = NULL; result = true; } - + if (reset) + // force an event + result = true; return result; } @@ -103,6 +107,7 @@ void KX_TouchSensor::Init() m_bTriggered = false; m_bLastTriggered = (m_invert)?true:false; m_hitObject = NULL; + m_reset = true; } KX_TouchSensor::~KX_TouchSensor() @@ -115,10 +120,7 @@ CValue* KX_TouchSensor::GetReplica() { KX_TouchSensor* replica = new KX_TouchSensor(*this); replica->m_colliders = new CListValue(); - replica->m_bCollision = false; - replica->m_bTriggered= false; - replica->m_hitObject = NULL; - replica->m_bLastTriggered = false; + replica->Init(); // this will copy properties and so on... CValue::AddDataToReplica(replica); return replica; |