diff options
author | Benoit Bolsee <benoit.bolsee@online.be> | 2009-05-18 12:22:51 +0400 |
---|---|---|
committer | Benoit Bolsee <benoit.bolsee@online.be> | 2009-05-18 12:22:51 +0400 |
commit | 07fc2aa5268da7708a289fa785b0f0cbd9be2575 (patch) | |
tree | 9bbe540d1853f2a259b64b8d51ad2bf142c3cdda | |
parent | 3bda88babfd422e2b40377d8d3be9a4bda7ed997 (diff) |
BGE #18665: Servo control and relative motion
Servo control motion actuator did not work as expected when the object
is moving on a moving platform.
This patch introduces a new Ref field in the servo motion actuator
to set a reference object for the velocity calculation.
You can set the object during the game using the actuator "reference"
attribute; use an object name or an object reference.
The servo controller takes into account the angular velocity of the
reference object to compute the relative local velocity.
-rw-r--r-- | source/blender/blenkernel/intern/sca.c | 9 | ||||
-rw-r--r-- | source/blender/blenloader/intern/readfile.c | 17 | ||||
-rw-r--r-- | source/blender/makesdna/DNA_actuator_types.h | 1 | ||||
-rw-r--r-- | source/blender/src/buttons_logic.c | 54 | ||||
-rw-r--r-- | source/gameengine/Converter/KX_ConvertActuators.cpp | 7 | ||||
-rw-r--r-- | source/gameengine/Ketsji/KX_ObjectActuator.cpp | 83 | ||||
-rw-r--r-- | source/gameengine/Ketsji/KX_ObjectActuator.h | 12 | ||||
-rw-r--r-- | source/gameengine/PyDoc/GameTypes.py | 2 |
8 files changed, 155 insertions, 30 deletions
diff --git a/source/blender/blenkernel/intern/sca.c b/source/blender/blenkernel/intern/sca.c index bbca97d75f7..ea7b566c3b5 100644 --- a/source/blender/blenkernel/intern/sca.c +++ b/source/blender/blenkernel/intern/sca.c @@ -579,6 +579,10 @@ void set_sca_new_poins_ob(Object *ob) bCameraActuator *ca= act->data; ID_NEW(ca->ob); } + else if(act->type==ACT_OBJECT) { + bObjectActuator *oa= act->data; + ID_NEW(oa->reference); + } else if(act->type==ACT_SCENE) { bSceneActuator *sca= act->data; ID_NEW(sca->camera); @@ -606,6 +610,7 @@ void sca_remove_ob_poin(Object *obt, Object *ob) bMessageSensor *ms; bActuator *act; bCameraActuator *ca; + bObjectActuator *oa; bSceneActuator *sa; bEditObjectActuator *eoa; bPropertyActuator *pa; @@ -628,6 +633,10 @@ void sca_remove_ob_poin(Object *obt, Object *ob) ca= act->data; if(ca->ob==ob) ca->ob= NULL; break; + case ACT_OBJECT: + oa= act->data; + if(oa->reference==ob) oa->reference= NULL; + break; case ACT_PROPERTY: pa= act->data; if(pa->ob==ob) pa->ob= NULL; diff --git a/source/blender/blenloader/intern/readfile.c b/source/blender/blenloader/intern/readfile.c index 91557da7aa6..0f233410f4e 100644 --- a/source/blender/blenloader/intern/readfile.c +++ b/source/blender/blenloader/intern/readfile.c @@ -3077,6 +3077,10 @@ static void lib_link_object(FileData *fd, Main *main) bAddObjectActuator *eoa= act->data; if(eoa) eoa->ob= newlibadr(fd, ob->id.lib, eoa->ob); } + else if(act->type==ACT_OBJECT) { + bObjectActuator *oa= act->data; + oa->reference= newlibadr(fd, ob->id.lib, oa->reference); + } else if(act->type==ACT_EDIT_OBJECT) { bEditObjectActuator *eoa= act->data; if(eoa==NULL) { @@ -3087,6 +3091,15 @@ static void lib_link_object(FileData *fd, Main *main) eoa->me= newlibadr(fd, ob->id.lib, eoa->me); } } + else if(act->type==ACT_OBJECT) { + bObjectActuator *oa= act->data; + if(oa==NULL) { + init_actuator(act); + } + else { + oa->reference= newlibadr(fd, ob->id.lib, oa->reference); + } + } else if(act->type==ACT_SCENE) { bSceneActuator *sa= act->data; sa->camera= newlibadr(fd, ob->id.lib, sa->camera); @@ -8862,6 +8875,10 @@ static void expand_object(FileData *fd, Main *mainvar, Object *ob) expand_doit(fd, mainvar, eoa->me); } } + else if(act->type==ACT_OBJECT) { + bObjectActuator *oa= act->data; + expand_doit(fd, mainvar, oa->reference); + } else if(act->type==ACT_SCENE) { bSceneActuator *sa= act->data; expand_doit(fd, mainvar, sa->camera); diff --git a/source/blender/makesdna/DNA_actuator_types.h b/source/blender/makesdna/DNA_actuator_types.h index aeabae42adf..81c02779cba 100644 --- a/source/blender/makesdna/DNA_actuator_types.h +++ b/source/blender/makesdna/DNA_actuator_types.h @@ -107,6 +107,7 @@ typedef struct bObjectActuator { float loc[3], rot[3]; float dloc[3], drot[3]; float linearvelocity[3], angularvelocity[3]; + struct Object *reference; } bObjectActuator; typedef struct bIpoActuator { diff --git a/source/blender/src/buttons_logic.c b/source/blender/src/buttons_logic.c index b229fe440a5..605568680ba 100644 --- a/source/blender/src/buttons_logic.c +++ b/source/blender/src/buttons_logic.c @@ -1830,42 +1830,44 @@ static short draw_actuatorbuttons(Object *ob, bActuator *act, uiBlock *block, sh } } else if (oa->type == ACT_OBJECT_SERVO) { - ysize= 172; + ysize= 195; 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"); + uiDefBut(block, LABEL, 0, "Ref", xco, yco-45, 45, 19, NULL, 0, 0, 0, 0, ""); + uiDefIDPoinBut(block, test_obpoin_but, ID_OB, 1, "OB:", xco+45, yco-45, wval*3, 19, &(oa->reference), "Reference object for velocity calculation, leave empty for world reference"); + uiDefBut(block, LABEL, 0, "linV", xco, yco-68, 45, 19, NULL, 0, 0, 0, 0, "Sets the target relative linear velocity, it will be achieve by automatic application of force. Null velocity is a valid target"); + uiDefButF(block, NUM, 0, "", xco+45, yco-68, wval, 19, oa->linearvelocity, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+wval, yco-68, wval, 19, oa->linearvelocity+1, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-68, 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-68, 15, 19, &oa->flag, 0.0, 0.0, 0, 0, "Velocity is defined in local coordinates"); + + uiDefBut(block, LABEL, 0, "Limit", xco, yco-91, 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-91, 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-91, 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-91, 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-110, 45, 19, NULL, 0, 0, 0, 0, "Set the upper limit for force"); + uiDefBut(block, LABEL, 0, "Min", xco, yco-129, 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, ""); + uiDefButF(block, NUM, 0, "", xco+45, yco-110, wval, 19, oa->dloc, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45, yco-129, 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, ""); + uiDefButF(block, NUM, 0, "", xco+45+wval, yco-110, wval, 19, oa->dloc+1, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+wval, yco-129, 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, ""); + uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-110, wval, 19, oa->dloc+2, -10000.0, 10000.0, 10, 0, ""); + uiDefButF(block, NUM, 0, "", xco+45+2*wval, yco-129, 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"); + uiDefBut(block, LABEL, 0, "Servo", xco, yco-152, 45, 19, NULL, 0, 0, 0, 0, "Coefficients of the PID servo controller"); + uiDefButF(block, NUMSLI, B_REDR, "P: ", xco+45, yco-152, 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-152, 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-171, 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"); + uiDefBut(block, LABEL, 0, "Fast", xco+45+3*wval, yco-171, 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-190, 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, ""); @@ -3788,7 +3790,7 @@ void logic_buts(void) uiBlockSetEmboss(block, UI_EMBOSSM); uiDefIconButBitS(block, TOG, CONT_DEL, B_DEL_CONT, ICON_X, xco, yco, 22, 19, &cont->flag, 0, 0, 0, 0, "Delete Controller"); uiDefIconButBitS(block, ICONTOG, CONT_SHOW, B_REDR, ICON_RIGHTARROW, (short)(xco+width-22), yco, 22, 19, &cont->flag, 0, 0, 0, 0, "Controller settings"); - uiDefIconButBitS(block, TOG, CONT_PRIO, B_REDR, ICON_BOOKMARKS, (short)(xco+width-66), yco, 22, 19, &cont->flag, 0, 0, 0, 0, "Bookmarl controller to run before all other non-bookmarked controllers on each logic frame"); + uiDefIconButBitS(block, TOG, CONT_PRIO, B_REDR, ICON_BOOKMARKS, (short)(xco+width-66), yco, 22, 19, &cont->flag, 0, 0, 0, 0, "Bookmarl controller to run before all other non-bookmarked controllers"); uiBlockSetEmboss(block, UI_EMBOSSP); sprintf(name, "%d", first_bit(cont->state_mask)+1); uiDefBlockBut(block, controller_state_mask_menu, cont, name, (short)(xco+width-44), yco, 22, 19, "Set controller state index (from 1 to 30)"); diff --git a/source/gameengine/Converter/KX_ConvertActuators.cpp b/source/gameengine/Converter/KX_ConvertActuators.cpp index 60d64621665..98df34aa4a9 100644 --- a/source/gameengine/Converter/KX_ConvertActuators.cpp +++ b/source/gameengine/Converter/KX_ConvertActuators.cpp @@ -134,6 +134,7 @@ void BL_ConvertActuators(char* maggiename, case ACT_OBJECT: { bObjectActuator* obact = (bObjectActuator*) bact->data; + KX_GameObject* obref = NULL; MT_Vector3 forcevec(KX_BLENDERTRUNC(obact->forceloc[0]), KX_BLENDERTRUNC(obact->forceloc[1]), KX_BLENDERTRUNC(obact->forceloc[2])); @@ -171,9 +172,13 @@ void BL_ConvertActuators(char* maggiename, bitLocalFlag.AngularVelocity = bool((obact->flag & ACT_ANG_VEL_LOCAL)!=0); bitLocalFlag.ServoControl = bool(obact->type == ACT_OBJECT_SERVO); bitLocalFlag.AddOrSetLinV = bool((obact->flag & ACT_ADD_LIN_VEL)!=0); - + if (obact->reference && bitLocalFlag.ServoControl) + { + obref = converter->FindGameObject(obact->reference); + } KX_ObjectActuator* tmpbaseact = new KX_ObjectActuator(gameobj, + obref, forcevec.getValue(), torquevec.getValue(), dlocvec.getValue(), diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.cpp b/source/gameengine/Ketsji/KX_ObjectActuator.cpp index 0232e3407b0..eaae04d406d 100644 --- a/source/gameengine/Ketsji/KX_ObjectActuator.cpp +++ b/source/gameengine/Ketsji/KX_ObjectActuator.cpp @@ -45,6 +45,7 @@ KX_ObjectActuator:: KX_ObjectActuator( SCA_IObject* gameobj, + KX_GameObject* refobj, const MT_Vector3& force, const MT_Vector3& torque, const MT_Vector3& dloc, @@ -69,6 +70,7 @@ KX_ObjectActuator( m_previous_error(0.0,0.0,0.0), m_error_accumulator(0.0,0.0,0.0), m_bitLocalFlag (flag), + m_reference(refobj), m_active_combined_velocity (false), m_linear_damping_active(false), m_angular_damping_active(false) @@ -80,10 +82,17 @@ KX_ObjectActuator( m_pid = m_torque; } - + if (m_reference) + m_reference->RegisterActuator(this); UpdateFuzzyFlags(); } +KX_ObjectActuator::~KX_ObjectActuator() +{ + if (m_reference) + m_reference->UnregisterActuator(this); +} + bool KX_ObjectActuator::Update() { @@ -132,6 +141,18 @@ bool KX_ObjectActuator::Update() if (mass < MT_EPSILON) return false; MT_Vector3 v = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity); + if (m_reference) + { + const MT_Point3& mypos = parent->NodeGetWorldPosition(); + const MT_Point3& refpos = m_reference->NodeGetWorldPosition(); + MT_Point3 relpos; + relpos = (mypos-refpos); + MT_Vector3 vel= m_reference->GetVelocity(relpos); + if (m_bitLocalFlag.LinearVelocity) + // must convert in local space + vel = parent->NodeGetWorldOrientation().transposed()*vel; + v -= vel; + } MT_Vector3 e = m_linear_velocity - v; MT_Vector3 dv = e - m_previous_error; MT_Vector3 I = m_error_accumulator + e; @@ -260,7 +281,34 @@ CValue* KX_ObjectActuator::GetReplica() return replica; } +void KX_ObjectActuator::ProcessReplica() +{ + SCA_IActuator::ProcessReplica(); + if (m_reference) + m_reference->RegisterActuator(this); +} +bool KX_ObjectActuator::UnlinkObject(SCA_IObject* clientobj) +{ + if (clientobj == (SCA_IObject*)m_reference) + { + // this object is being deleted, we cannot continue to use it as reference. + m_reference = NULL; + return true; + } + return false; +} + +void KX_ObjectActuator::Relink(GEN_Map<GEN_HashedPtr, void*> *obj_map) +{ + void **h_obj = (*obj_map)[m_reference]; + if (h_obj) { + if (m_reference) + m_reference->UnregisterActuator(this); + m_reference = (KX_GameObject*)(*h_obj); + m_reference->RegisterActuator(this); + } +} /* some 'standard' utilities... */ bool KX_ObjectActuator::isValid(KX_ObjectActuator::KX_OBJECT_ACT_VEC_TYPE type) @@ -357,6 +405,7 @@ PyAttributeDef KX_ObjectActuator::Attributes[] = { KX_PYATTRIBUTE_RW_FUNCTION("forceLimitY", KX_ObjectActuator, pyattr_get_forceLimitY, pyattr_set_forceLimitY), KX_PYATTRIBUTE_RW_FUNCTION("forceLimitZ", KX_ObjectActuator, pyattr_get_forceLimitZ, pyattr_set_forceLimitZ), KX_PYATTRIBUTE_VECTOR_RW_CHECK("pid", -100, 200, true, KX_ObjectActuator, m_pid, PyCheckPid), + KX_PYATTRIBUTE_RW_FUNCTION("reference", KX_ObjectActuator,pyattr_get_reference,pyattr_set_reference), { NULL } //Sentinel }; @@ -484,6 +533,38 @@ int KX_ObjectActuator::pyattr_set_forceLimitZ(void *self_v, const KX_PYATTRIBUTE return PY_SET_ATTR_FAIL; } +PyObject* KX_ObjectActuator::pyattr_get_reference(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef) +{ + KX_ObjectActuator* actuator = static_cast<KX_ObjectActuator*>(self); + if (!actuator->m_reference) + Py_RETURN_NONE; + + return actuator->m_reference->GetProxy(); +} + +int KX_ObjectActuator::pyattr_set_reference(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value) +{ + KX_ObjectActuator* actuator = static_cast<KX_ObjectActuator*>(self); + KX_GameObject *refOb; + + if (!ConvertPythonToGameObject(value, &refOb, true, "actu.reference = value: KX_ObjectActuator")) + return PY_SET_ATTR_FAIL; + + if (actuator->m_reference) + actuator->m_reference->UnregisterActuator(actuator); + + if(refOb==NULL) { + actuator->m_reference= NULL; + } + else { + actuator->m_reference = refOb; + actuator->m_reference->RegisterActuator(actuator); + } + + return PY_SET_ATTR_SUCCESS; +} + + /* 1. set ------------------------------------------------------------------ */ /* Removed! */ diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.h b/source/gameengine/Ketsji/KX_ObjectActuator.h index b60f877074d..f9bd2a0c748 100644 --- a/source/gameengine/Ketsji/KX_ObjectActuator.h +++ b/source/gameengine/Ketsji/KX_ObjectActuator.h @@ -35,6 +35,8 @@ #include "SCA_IActuator.h" #include "MT_Vector3.h" +class KX_GameObject; + // // Stores the flags for each CValue derived class // @@ -92,7 +94,7 @@ class KX_ObjectActuator : public SCA_IActuator MT_Vector3 m_previous_error; MT_Vector3 m_error_accumulator; KX_LocalFlags m_bitLocalFlag; - + KX_GameObject* m_reference; // A hack bool -- oh no sorry everyone // This bool is used to check if we have informed // the physics object that we are no longer @@ -121,6 +123,7 @@ public: KX_ObjectActuator( SCA_IObject* gameobj, + KX_GameObject* refobj, const MT_Vector3& force, const MT_Vector3& torque, const MT_Vector3& dloc, @@ -131,8 +134,11 @@ public: const KX_LocalFlags& flag, PyTypeObject* T=&Type ); - + ~KX_ObjectActuator(); CValue* GetReplica(); + void ProcessReplica(); + bool UnlinkObject(SCA_IObject* clientobj); + void Relink(GEN_Map<GEN_HashedPtr, void*> *obj_map); void SetForceLoc(const double force[3]) { /*m_force=force;*/ } void UpdateFuzzyFlags() @@ -188,6 +194,8 @@ public: static int pyattr_set_forceLimitY(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value); static PyObject* pyattr_get_forceLimitZ(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef); static int pyattr_set_forceLimitZ(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value); + static PyObject* pyattr_get_reference(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef); + static int pyattr_set_reference(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value); // This lets the attribute macros use UpdateFuzzyFlags() static int PyUpdateFuzzyFlags(void *self, const PyAttributeDef *attrdef) diff --git a/source/gameengine/PyDoc/GameTypes.py b/source/gameengine/PyDoc/GameTypes.py index ca02b1a2798..5ec6f31e30c 100644 --- a/source/gameengine/PyDoc/GameTypes.py +++ b/source/gameengine/PyDoc/GameTypes.py @@ -2668,6 +2668,8 @@ class KX_ObjectActuator(SCA_IActuator): @ivar pid: The PID coefficients of the servo controller @type pid: list of floats [proportional, integral, derivate] + @ivar reference: The object that is used as reference to compute the velocity for the servo controller. + @type reference: KX_GameObject or None @group Deprecated: getForce, setForce, getTorque, setTorque, getDLoc, setDLoc, getDRot, setDRot, getLinearVelocity, setLinearVelocity, getAngularVelocity, setAngularVelocity, getDamping, setDamping, getForceLimitX, setForceLimitX, getForceLimitY, setForceLimitY, getForceLimitZ, setForceLimitZ, |