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-rw-r--r--source/blender/makesdna/DNA_actuator_types.h4
-rw-r--r--source/blender/src/buttons_logic.c6
-rw-r--r--source/gameengine/Converter/BL_BlenderDataConversion.cpp4
-rw-r--r--source/gameengine/Converter/KX_ConvertActuators.cpp4
-rw-r--r--source/gameengine/Ketsji/KX_BulletPhysicsController.cpp7
-rw-r--r--source/gameengine/Ketsji/KX_BulletPhysicsController.h1
-rw-r--r--source/gameengine/Ketsji/KX_GameObject.cpp21
-rw-r--r--source/gameengine/Ketsji/KX_GameObject.h8
-rw-r--r--source/gameengine/Ketsji/KX_IPhysicsController.h1
-rw-r--r--source/gameengine/Ketsji/KX_ObjectActuator.cpp131
-rw-r--r--source/gameengine/Ketsji/KX_ObjectActuator.h36
-rw-r--r--source/gameengine/Ketsji/KX_SumoPhysicsController.h2
12 files changed, 203 insertions, 22 deletions
diff --git a/source/blender/makesdna/DNA_actuator_types.h b/source/blender/makesdna/DNA_actuator_types.h
index 70d603a6ed9..3f08ea05705 100644
--- a/source/blender/makesdna/DNA_actuator_types.h
+++ b/source/blender/makesdna/DNA_actuator_types.h
@@ -98,7 +98,8 @@ typedef struct bPropertyActuator {
} bPropertyActuator;
typedef struct bObjectActuator {
- int flag, type;
+ short flag, type;
+ int damping;
float forceloc[3], forcerot[3];
float loc[3], rot[3];
float dloc[3], drot[3];
@@ -252,6 +253,7 @@ typedef struct FreeCamera {
#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
diff --git a/source/blender/src/buttons_logic.c b/source/blender/src/buttons_logic.c
index bfa451428c3..ec85952a2f8 100644
--- a/source/blender/src/buttons_logic.c
+++ b/source/blender/src/buttons_logic.c
@@ -1613,7 +1613,7 @@ static short draw_actuatorbuttons(Object *ob, bActuator *act, uiBlock *block, sh
{
case ACT_OBJECT:
{
- ysize= 129;
+ ysize= 152;
glRects(xco, yco-ysize, xco+width, yco);
uiEmboss((float)xco, (float)yco-ysize, (float)xco+width, (float)yco, 1);
@@ -1651,6 +1651,10 @@ static short draw_actuatorbuttons(Object *ob, bActuator *act, uiBlock *block, sh
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, "");
+ uiDefButBitI(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");
+
uiDefButBitI(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");
uiDefButBitI(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");
uiDefButBitI(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");
diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index 21c18634e21..665783a1ba5 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -1668,6 +1668,8 @@ static KX_GameObject *gameobject_from_blenderobject(
BL_ShapeDeformer *dcont = new BL_ShapeDeformer((BL_DeformableGameObject*)gameobj,
ob, (BL_SkinMeshObject*)meshobj);
((BL_DeformableGameObject*)gameobj)->m_pDeformer = dcont;
+ if (bHasArmature)
+ dcont->LoadShapeDrivers(ob->parent);
} else if (bHasArmature) {
BL_SkinDeformer *dcont = new BL_SkinDeformer(ob, (BL_SkinMeshObject*)meshobj );
((BL_DeformableGameObject*)gameobj)->m_pDeformer = dcont;
@@ -2329,7 +2331,7 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
{
KX_GameObject* gameobj = static_cast<KX_GameObject*>(logicbrick_conversionlist->GetValue(i));
struct Object* blenderobj = converter->FindBlenderObject(gameobj);
- gameobj->SetState(blenderobj->state);
+ gameobj->SetState((blenderobj->init_state)?blenderobj->init_state:blenderobj->state);
}
#endif //CONVERT_LOGIC
diff --git a/source/gameengine/Converter/KX_ConvertActuators.cpp b/source/gameengine/Converter/KX_ConvertActuators.cpp
index 89e2925a6c1..f0b549594f2 100644
--- a/source/gameengine/Converter/KX_ConvertActuators.cpp
+++ b/source/gameengine/Converter/KX_ConvertActuators.cpp
@@ -137,6 +137,7 @@ void BL_ConvertActuators(char* maggiename,
MT_Vector3 angvelvec ( KX_BLENDERTRUNC(obact->angularvelocity[0]),
KX_BLENDERTRUNC(obact->angularvelocity[1]),
KX_BLENDERTRUNC(obact->angularvelocity[2]));
+ short damping = obact->damping;
drotvec /= BLENDER_HACK_DTIME;
//drotvec /= BLENDER_HACK_DTIME;
@@ -157,7 +158,7 @@ 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.AddOrSetLinV = bool((obact->flag & ACT_ADD_LIN_VEL)!=0);
@@ -168,6 +169,7 @@ void BL_ConvertActuators(char* maggiename,
drotvec.getValue(),
linvelvec.getValue(),
angvelvec.getValue(),
+ damping,
bitLocalFlag
);
baseact = tmpbaseact;
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
index aa7c75e9633..70443ced7a9 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
@@ -102,6 +102,13 @@ MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity()
CcdPhysicsController::GetLinearVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz
return MT_Vector3(angVel[0],angVel[1],angVel[2]);
}
+MT_Vector3 KX_BulletPhysicsController::GetAngularVelocity()
+{
+ float angVel[3];
+ //CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
+ CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz
+ return MT_Vector3(angVel[0],angVel[1],angVel[2]);
+}
MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos)
{
float linVel[3];
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.h b/source/gameengine/Ketsji/KX_BulletPhysicsController.h
index 619ac42503f..0853755dffa 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.h
@@ -25,6 +25,7 @@ public:
virtual void ApplyTorque(const MT_Vector3& torque,bool local);
virtual void ApplyForce(const MT_Vector3& force,bool local);
virtual MT_Vector3 GetLinearVelocity();
+ virtual MT_Vector3 GetAngularVelocity();
virtual MT_Vector3 GetVelocity(const MT_Point3& pos);
virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index eaa6564ba84..cdbce81d610 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -664,6 +664,27 @@ MT_Vector3 KX_GameObject::GetLinearVelocity(bool local)
return velocity;
}
+MT_Vector3 KX_GameObject::GetAngularVelocity(bool local)
+{
+ MT_Vector3 velocity(0.0,0.0,0.0), locvel;
+ MT_Matrix3x3 ori;
+ int i, j;
+ if (m_pPhysicsController1)
+ {
+ velocity = m_pPhysicsController1->GetAngularVelocity();
+
+ if (local)
+ {
+ ori = GetSGNode()->GetWorldOrientation();
+
+ locvel = velocity * ori;
+ return locvel;
+ }
+ }
+ return velocity;
+}
+
+
// scenegraph node stuff
diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
index 63a660617c4..cab1f3167d5 100644
--- a/source/gameengine/Ketsji/KX_GameObject.h
+++ b/source/gameengine/Ketsji/KX_GameObject.h
@@ -259,6 +259,14 @@ public:
);
/**
+ * Return the angular velocity of the game object.
+ */
+ MT_Vector3
+ GetAngularVelocity(
+ bool local=false
+ );
+
+ /**
* Align the object to a given normal.
*/
void
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.h b/source/gameengine/Ketsji/KX_IPhysicsController.h
index 009db40d3e8..2ec66a883eb 100644
--- a/source/gameengine/Ketsji/KX_IPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_IPhysicsController.h
@@ -64,6 +64,7 @@ public:
virtual void ApplyTorque(const MT_Vector3& torque,bool local)=0;
virtual void ApplyForce(const MT_Vector3& force,bool local)=0;
virtual MT_Vector3 GetLinearVelocity()=0;
+ virtual MT_Vector3 GetAngularVelocity()=0;
virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0;
virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0;
virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0;
diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.cpp b/source/gameengine/Ketsji/KX_ObjectActuator.cpp
index 22a406792f9..03ae14997ab 100644
--- a/source/gameengine/Ketsji/KX_ObjectActuator.cpp
+++ b/source/gameengine/Ketsji/KX_ObjectActuator.cpp
@@ -50,6 +50,7 @@ KX_ObjectActuator(
const MT_Vector3& drot,
const MT_Vector3& linV,
const MT_Vector3& angV,
+ const short damping,
const KX_LocalFlags& flag,
PyTypeObject* T
) :
@@ -60,9 +61,16 @@ KX_ObjectActuator(
m_drot(drot),
m_linear_velocity(linV),
m_angular_velocity(angV),
+ m_linear_length2(0.0),
+ m_current_linear_factor(0.0),
+ m_current_angular_factor(0.0),
+ m_damping(damping),
m_bitLocalFlag (flag),
- m_active_combined_velocity (false)
+ m_active_combined_velocity (false),
+ m_linear_damping_active(false),
+ m_angular_damping_active(false)
{
+ UpdateFuzzyFlags();
}
bool KX_ObjectActuator::Update()
@@ -87,42 +95,98 @@ bool KX_ObjectActuator::Update()
);
m_active_combined_velocity = false;
}
+ m_linear_damping_active = false;
return false;
} else
if (parent)
{
- /* Probably better to use some flags, so these MT_zero tests can be */
- /* skipped. */
- if (!MT_fuzzyZero(m_force))
+ if (!m_bitLocalFlag.ZeroForce)
{
- parent->ApplyForce(m_force,(m_bitLocalFlag.Force) != 0);
+ if (m_bitLocalFlag.ClampVelocity && !m_bitLocalFlag.ZeroLinearVelocity)
+ {
+ // 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
+ {
+ parent->ApplyForce(m_force,(m_bitLocalFlag.Force) != 0);
+ }
}
- if (!MT_fuzzyZero(m_torque))
+ if (!m_bitLocalFlag.ZeroTorque)
{
- parent->ApplyTorque(m_torque,(m_bitLocalFlag.Torque) != 0);
+ if (m_bitLocalFlag.ClampVelocity && !m_bitLocalFlag.ZeroAngularVelocity)
+ {
+ // 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->ApplyTorque(m_torque,(m_bitLocalFlag.Torque) != 0);
+ }
}
- if (!MT_fuzzyZero(m_dloc))
+ if (!m_bitLocalFlag.ZeroDLoc)
{
parent->ApplyMovement(m_dloc,(m_bitLocalFlag.DLoc) != 0);
}
- if (!MT_fuzzyZero(m_drot))
+ if (!m_bitLocalFlag.ZeroDRot)
{
parent->ApplyRotation(m_drot,(m_bitLocalFlag.DRot) != 0);
}
- if (!MT_fuzzyZero(m_linear_velocity))
+ if (!m_bitLocalFlag.ZeroLinearVelocity && !m_bitLocalFlag.ClampVelocity)
{
if (m_bitLocalFlag.AddOrSetLinV) {
parent->addLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0);
} else {
m_active_combined_velocity = true;
- parent->setLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0);
+ 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 (!MT_fuzzyZero(m_angular_velocity))
+ if (!m_bitLocalFlag.ZeroAngularVelocity && !m_bitLocalFlag.ClampVelocity)
{
- parent->setAngularVelocity(m_angular_velocity,(m_bitLocalFlag.AngularVelocity) != 0);
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;
+ }
+ 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);
+ }
}
}
@@ -199,6 +263,8 @@ 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},
{NULL,NULL} //Sentinel
@@ -238,6 +304,7 @@ PyObject* KX_ObjectActuator::PySetForce(PyObject* self,
}
m_force.setValue(vecArg);
m_bitLocalFlag.Force = PyArgToBool(bToggle);
+ UpdateFuzzyFlags();
Py_Return;
}
@@ -268,6 +335,7 @@ PyObject* KX_ObjectActuator::PySetTorque(PyObject* self,
}
m_torque.setValue(vecArg);
m_bitLocalFlag.Torque = PyArgToBool(bToggle);
+ UpdateFuzzyFlags();
Py_Return;
}
@@ -298,6 +366,7 @@ PyObject* KX_ObjectActuator::PySetDLoc(PyObject* self,
}
m_dloc.setValue(vecArg);
m_bitLocalFlag.DLoc = PyArgToBool(bToggle);
+ UpdateFuzzyFlags();
Py_Return;
}
@@ -328,6 +397,7 @@ PyObject* KX_ObjectActuator::PySetDRot(PyObject* self,
}
m_drot.setValue(vecArg);
m_bitLocalFlag.DRot = PyArgToBool(bToggle);
+ UpdateFuzzyFlags();
Py_Return;
}
@@ -341,6 +411,7 @@ 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;
}
@@ -351,12 +422,15 @@ PyObject* KX_ObjectActuator::PySetLinearVelocity(PyObject* self,
PyObject* kwds) {
float vecArg[3];
int bToggle = 0;
- if (!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1],
- &vecArg[2], &bToggle)) {
+ int bClamp = 0;
+ if (!PyArg_ParseTuple(args, "fffi|i", &vecArg[0], &vecArg[1],
+ &vecArg[2], &bToggle, &bClamp)) {
return NULL;
}
m_linear_velocity.setValue(vecArg);
m_bitLocalFlag.LinearVelocity = PyArgToBool(bToggle);
+ m_bitLocalFlag.ClampVelocity = PyArgToBool(bClamp);
+ UpdateFuzzyFlags();
Py_Return;
}
@@ -371,6 +445,7 @@ 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;
}
@@ -380,15 +455,37 @@ PyObject* KX_ObjectActuator::PySetAngularVelocity(PyObject* self,
PyObject* kwds) {
float vecArg[3];
int bToggle = 0;
- if (!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1],
- &vecArg[2], &bToggle)) {
+ int bClamp = 0;
+ if (!PyArg_ParseTuple(args, "fffi|i", &vecArg[0], &vecArg[1],
+ &vecArg[2], &bToggle, &bClamp)) {
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) {
+ int damping = 0;
+ if (!PyArg_ParseTuple(args, "i", &damping) || damping < 0 || damping > 1000) {
+ return NULL;
+ }
+ m_damping = damping;
+ Py_Return;
+}
+
+/* 13. getVelocityDamping */
+PyObject* KX_ObjectActuator::PyGetVelocityDamping(PyObject* self,
+ PyObject* args,
+ PyObject* kwds) {
+ return Py_BuildValue("i",m_damping);
+}
+
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
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
index 868465c8f10..8c061ae4056 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
@@ -68,6 +68,8 @@ public:
void ApplyTorque(const MT_Vector3& torque,bool local);
void ApplyForce(const MT_Vector3& force,bool local);
MT_Vector3 GetLinearVelocity();
+ MT_Vector3 GetAngularVelocity() // to keep compiler happy
+ { return MT_Vector3(0.0,0.0,0.0); }
MT_Vector3 GetVelocity(const MT_Point3& pos);
void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-27 19:40:11 +0300