BGE patch: Add damping and clamping option to motion actuator.

This patch introduces two options for the motion actuator:

damping: number of frames to reach the target velocity. It takes
into account the startup velocityin the target velocity direction
and add 1/damping fraction of target velocity until the full 
velocity is reached. Works only with linear and angular velocity.
It will be extended to delta and force motion method in a future
release.

clamping: apply the force and torque as long as the target velocity
is not reached. If this option is set, the velocity specified 
in linV or angV are not applied to the object but used as target
velocity. You should also specify a force in force or torque field: 
the force will be applied as long as the velocity along the axis of
the vector set in linV or angV is not reached. Works best in low
friction environment.

1 files changed, 35 insertions, 1 deletions

diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.h b/source/gameengine/Ketsji/KX_ObjectActuator.h
index edbae154b8b..ec6dab5cd48 100644
--- a/source/gameengine/Ketsji/KX_ObjectActuator.h
+++ b/source/gameengine/Ketsji/KX_ObjectActuator.h
@@ -46,7 +46,13 @@ struct KX_LocalFlags {
 		DLoc(false),
 		LinearVelocity(false),
 		AngularVelocity(false),
-		AddOrSetLinV(false)
+		AddOrSetLinV(false),
+		ClampVelocity(false),
+		ZeroForce(false),
+		ZeroDRot(false),
+		ZeroDLoc(false),
+		ZeroLinearVelocity(false),
+		ZeroAngularVelocity(false)
 	{
 	}
 
@@ -57,6 +63,13 @@ struct KX_LocalFlags {
 	unsigned short LinearVelocity : 1;
 	unsigned short AngularVelocity : 1;
 	unsigned short AddOrSetLinV : 1;
+	unsigned short ClampVelocity : 1;
+	unsigned short ZeroForce : 1;
+	unsigned short ZeroTorque : 1;
+	unsigned short ZeroDRot : 1;
+	unsigned short ZeroDLoc : 1;
+	unsigned short ZeroLinearVelocity : 1;
+	unsigned short ZeroAngularVelocity : 1;
 };
 
 class KX_ObjectActuator : public SCA_IActuator
@@ -69,6 +82,11 @@ class KX_ObjectActuator : public SCA_IActuator
 	MT_Vector3		m_drot;
 	MT_Vector3		m_linear_velocity;
 	MT_Vector3		m_angular_velocity;	
+	MT_Scalar		m_linear_length2;
+	MT_Scalar		m_angular_length2;
+	MT_Scalar		m_current_linear_factor;
+	MT_Scalar		m_current_angular_factor;
+	short			m_damping;
   	KX_LocalFlags	m_bitLocalFlag;
 
 	// A hack bool -- oh no sorry everyone
@@ -77,6 +95,8 @@ class KX_ObjectActuator : public SCA_IActuator
 	// setting linear velocity.
 
 	bool m_active_combined_velocity;
+	bool m_linear_damping_active;
+	bool m_angular_damping_active;
 	
 public:
 	enum KX_OBJECT_ACT_VEC_TYPE {
@@ -103,6 +123,7 @@ public:
 		const MT_Vector3& drot,
 		const MT_Vector3& linV,
 		const MT_Vector3& angV,
+		const short damping,
 		const KX_LocalFlags& flag,
 		PyTypeObject* T=&Type
 	);
@@ -110,6 +131,17 @@ public:
 	CValue* GetReplica();
 
 	void SetForceLoc(const double force[3])	{ /*m_force=force;*/ }
+	void UpdateFuzzyFlags()
+		{ 
+			m_bitLocalFlag.ZeroForce = MT_fuzzyZero(m_force);
+			m_bitLocalFlag.ZeroTorque = MT_fuzzyZero(m_torque);
+			m_bitLocalFlag.ZeroDLoc = MT_fuzzyZero(m_dloc);
+			m_bitLocalFlag.ZeroDRot = MT_fuzzyZero(m_drot);
+			m_bitLocalFlag.ZeroLinearVelocity = MT_fuzzyZero(m_linear_velocity);
+			m_linear_length2 = (m_bitLocalFlag.ZeroLinearVelocity) ? 0.0 : m_linear_velocity.length2();
+			m_bitLocalFlag.ZeroAngularVelocity = MT_fuzzyZero(m_angular_velocity);
+			m_angular_length2 = (m_bitLocalFlag.ZeroAngularVelocity) ? 0.0 : m_angular_velocity.length2();
+		}
 	virtual bool Update();
 
 
@@ -132,6 +164,8 @@ 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);
 };
 
 #endif //__KX_OBJECTACTUATOR