diff options
Diffstat (limited to 'source/gameengine/Ketsji/KX_ConstraintActuator.cpp')
| -rw-r--r-- | source/gameengine/Ketsji/KX_ConstraintActuator.cpp | 805 |
1 files changed, 681 insertions, 124 deletions
diff --git a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp index bd843d97199..76357e9c58f 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 +46,60 @@ /* ------------------------------------------------------------------------- */ 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; + } + m_minimumBound = cos(minBound); + m_maximumBound = cos(maxBound); + m_minimumSine = sin(minBound); + m_maximumSine = sin(maxBound); + } + break; + default: m_minimumBound = minBound; m_maximumBound = maxBound; + m_minimumSine = 0.f; + m_maximumSine = 0.f; 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 +109,426 @@ 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, KX_RayCast* result, 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(); - - 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; + m_hitObject = client->m_gameobject; -// 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 */ - } + 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 = m_hitObject->GetProperty(m_property) != NULL; + } + } + // update the hit status + result->m_hitFound = bFound; + // stop looking + return true; +} - switch (m_locrot) { - case KX_ACT_CONSTRAINT_LOCX: - case KX_ACT_CONSTRAINT_LOCY: - case KX_ACT_CONSTRAINT_LOCZ: - parent->NodeSetLocalPosition(position); - break; +/* this function is used to pre-filter the object before casting the ray on them. + This is useful for "X-Ray" option when we want to see "through" unwanted object. + */ +bool KX_ConstraintActuator::NeedRayCast(KX_ClientObjectInfo* client) +{ + if (client->m_type > KX_ClientObjectInfo::ACTOR) + { + // Unknown type of object, skip it. + // Should not occur as the sensor objects are filtered in RayTest() + printf("Invalid client type %d found in ray casting\n", client->m_type); + return false; + } + // no X-Ray function yet + return true; +} +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 normal, direction, refDirection; + MT_Matrix3x3 rotation = obj->NodeGetWorldOrientation(); + MT_Scalar filter, newdistance, cosangle; + int axis, sign; + + if (m_posDampTime) { + filter = m_posDampTime/(1.0+m_posDampTime); + } else { + filter = 0.0; + } + 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; + default: + direction[0] = rotation[0][2]; + direction[1] = rotation[1][2]; + direction[2] = rotation[2][2]; + axis = 2; + break; + } + if ((m_maximumBound < (1.0f-FLT_EPSILON)) || (m_minimumBound < (1.0f-FLT_EPSILON))) { + // reference direction needs to be evaluated + // 1. get the cosine between current direction and target + cosangle = direction.dot(m_refDirection); + if (cosangle >= (m_maximumBound-FLT_EPSILON) && cosangle <= (m_minimumBound+FLT_EPSILON)) { + // no change to do + result = true; + goto CHECK_TIME; + } + // 2. define a new reference direction + // compute local axis with reference direction as X and + // Y in direction X refDirection plane + MT_Vector3 zaxis = m_refDirection.cross(direction); + if (MT_fuzzyZero2(zaxis.length2())) { + // direction and refDirection are identical, + // choose any other direction to define plane + if (direction[0] < 0.9999) + zaxis = m_refDirection.cross(MT_Vector3(1.0,0.0,0.0)); + else + zaxis = m_refDirection.cross(MT_Vector3(0.0,1.0,0.0)); + } + MT_Vector3 yaxis = zaxis.cross(m_refDirection); + yaxis.normalize(); + if (cosangle > m_minimumBound) { + // angle is too close to reference direction, + // choose a new reference that is exactly at minimum angle + refDirection = m_minimumBound * m_refDirection + m_minimumSine * yaxis; + } else { + // angle is too large, choose new reference direction at maximum angle + refDirection = m_maximumBound * m_refDirection + m_maximumSine * yaxis; + } + } else { + refDirection = m_refDirection; + } + // apply damping on the direction + direction = filter*direction + (1.0-filter)*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_DIRNX: + case KX_ACT_CONSTRAINT_DIRNY: + case KX_ACT_CONSTRAINT_DIRNZ: + switch (m_locrot) { + case KX_ACT_CONSTRAINT_DIRPX: + normal[0] = rotation[0][0]; + normal[1] = rotation[1][0]; + normal[2] = rotation[2][0]; + axis = 0; // axis according to KX_GameObject::AlignAxisToVect() + sign = 0; // X axis will be parrallel to direction of ray + break; + case KX_ACT_CONSTRAINT_DIRPY: + normal[0] = rotation[0][1]; + normal[1] = rotation[1][1]; + normal[2] = rotation[2][1]; + axis = 1; + sign = 0; + break; + case KX_ACT_CONSTRAINT_DIRPZ: + normal[0] = rotation[0][2]; + normal[1] = rotation[1][2]; + normal[2] = rotation[2][2]; + axis = 2; + sign = 0; + break; + case KX_ACT_CONSTRAINT_DIRNX: + normal[0] = -rotation[0][0]; + normal[1] = -rotation[1][0]; + normal[2] = -rotation[2][0]; + axis = 0; + sign = 1; + break; + case KX_ACT_CONSTRAINT_DIRNY: + normal[0] = -rotation[0][1]; + normal[1] = -rotation[1][1]; + normal[2] = -rotation[2][1]; + axis = 1; + sign = 1; + break; + case KX_ACT_CONSTRAINT_DIRNZ: + normal[0] = -rotation[0][2]; + normal[1] = -rotation[1][2]; + normal[2] = -rotation[2][2]; + axis = 2; + sign = 1; + break; + } + normal.normalize(); + if (m_option & KX_ACT_CONSTRAINT_LOCAL) { + // direction of the ray is along the local axis + direction = normal; + } else { + switch (m_locrot) { + case KX_ACT_CONSTRAINT_DIRPX: + direction = MT_Vector3(1.0,0.0,0.0); + break; + case KX_ACT_CONSTRAINT_DIRPY: + direction = MT_Vector3(0.0,1.0,0.0); + break; + case KX_ACT_CONSTRAINT_DIRPZ: + direction = MT_Vector3(0.0,0.0,1.0); + break; + case KX_ACT_CONSTRAINT_DIRNX: + direction = MT_Vector3(-1.0,0.0,0.0); + break; + case KX_ACT_CONSTRAINT_DIRNY: + direction = MT_Vector3(0.0,-1.0,0.0); + break; + case KX_ACT_CONSTRAINT_DIRNZ: + direction = MT_Vector3(0.0,0.0,-1.0); + break; + } + } + { + MT_Point3 topoint = position + (m_maximumBound) * direction; + 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(); + } + } + KX_RayCast::Callback<KX_ConstraintActuator> callback(this,spc); + result = KX_RayCast::RayTest(pe, position, topoint, callback); + if (result) { + MT_Vector3 newnormal = callback.m_hitNormal; + // 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) { + MT_Scalar rotFilter; + // apply damping on the direction + if (m_rotDampTime) { + rotFilter = m_rotDampTime/(1.0+m_rotDampTime); + } else { + rotFilter = filter; + } + newnormal = rotFilter*normal - (1.0-rotFilter)*newnormal; + obj->AlignAxisToVect((sign)?-newnormal:newnormal, axis); + if (m_option & KX_ACT_CONSTRAINT_LOCAL) { + direction = newnormal; + direction.normalize(); + } + } + if (m_option & KX_ACT_CONSTRAINT_DISTANCE) { + if (m_posDampTime) { + newdistance = filter*(position-callback.m_hitPoint).length()+(1.0-filter)*m_minimumBound; + } else { + newdistance = m_minimumBound; + } + // logically we should cancel the speed along the ray direction as we set the + // position along that axis + spc = obj->GetPhysicsController(); + if (spc && spc->IsDyna()) { + MT_Vector3 linV = spc->GetLinearVelocity(); + // cancel the projection along the ray direction + MT_Scalar fallspeed = linV.dot(direction); + if (!MT_fuzzyZero(fallspeed)) + spc->SetLinearVelocity(linV-fallspeed*direction,false); + } + } else { + newdistance = (position-callback.m_hitPoint).length(); + } + newposition = callback.m_hitPoint-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_FHPX: + case KX_ACT_CONSTRAINT_FHPY: + case KX_ACT_CONSTRAINT_FHPZ: + case KX_ACT_CONSTRAINT_FHNX: + case KX_ACT_CONSTRAINT_FHNY: + case KX_ACT_CONSTRAINT_FHNZ: + switch (m_locrot) { + case KX_ACT_CONSTRAINT_FHPX: + normal[0] = -rotation[0][0]; + normal[1] = -rotation[1][0]; + normal[2] = -rotation[2][0]; + direction = MT_Vector3(1.0,0.0,0.0); + break; + case KX_ACT_CONSTRAINT_FHPY: + normal[0] = -rotation[0][1]; + normal[1] = -rotation[1][1]; + normal[2] = -rotation[2][1]; + direction = MT_Vector3(0.0,1.0,0.0); + break; + case KX_ACT_CONSTRAINT_FHPZ: + normal[0] = -rotation[0][2]; + normal[1] = -rotation[1][2]; + normal[2] = -rotation[2][2]; + direction = MT_Vector3(0.0,0.0,1.0); + break; + case KX_ACT_CONSTRAINT_FHNX: + normal[0] = rotation[0][0]; + normal[1] = rotation[1][0]; + normal[2] = rotation[2][0]; + direction = MT_Vector3(-1.0,0.0,0.0); + break; + case KX_ACT_CONSTRAINT_FHNY: + normal[0] = rotation[0][1]; + normal[1] = rotation[1][1]; + normal[2] = rotation[2][1]; + direction = MT_Vector3(0.0,-1.0,0.0); + break; + case KX_ACT_CONSTRAINT_FHNZ: + normal[0] = rotation[0][2]; + normal[1] = rotation[1][2]; + normal[2] = rotation[2][2]; + direction = MT_Vector3(0.0,0.0,-1.0); + break; + } + normal.normalize(); + { + 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 || !spc->IsDyna()) { + // the object is not dynamic, it won't support setting speed + goto CHECK_TIME; + } + m_hitObject = NULL; + // distance of Fh area is stored in m_minimum + MT_Point3 topoint = position + (m_minimumBound+spc->GetRadius()) * direction; + KX_RayCast::Callback<KX_ConstraintActuator> callback(this,spc); + result = KX_RayCast::RayTest(pe, position, topoint, callback); + // we expect a hit object + if (!m_hitObject) + result = false; + if (result) + { + MT_Vector3 newnormal = callback.m_hitNormal; + // compute new position & orientation + MT_Scalar distance = (callback.m_hitPoint-position).length()-spc->GetRadius(); + // estimate the velocity of the hit point + MT_Point3 relativeHitPoint; + relativeHitPoint = (callback.m_hitPoint-m_hitObject->NodeGetWorldPosition()); + MT_Vector3 velocityHitPoint = m_hitObject->GetVelocity(relativeHitPoint); + MT_Vector3 relativeVelocity = spc->GetLinearVelocity() - velocityHitPoint; + MT_Scalar relativeVelocityRay = direction.dot(relativeVelocity); + MT_Scalar springExtent = 1.0 - distance/m_minimumBound; + // Fh force is stored in m_maximum + MT_Scalar springForce = springExtent * m_maximumBound; + // damping is stored in m_refDirection [0] = damping, [1] = rot damping + MT_Scalar springDamp = relativeVelocityRay * m_refDirection[0]; + MT_Vector3 newVelocity = spc->GetLinearVelocity()-(springForce+springDamp)*direction; + if (m_option & KX_ACT_CONSTRAINT_NORMAL) + { + newVelocity+=(springForce+springDamp)*(newnormal-newnormal.dot(direction)*direction); + } + spc->SetLinearVelocity(newVelocity, false); + if (m_option & KX_ACT_CONSTRAINT_DOROTFH) + { + MT_Vector3 angSpring = (normal.cross(newnormal))*m_maximumBound; + MT_Vector3 angVelocity = spc->GetAngularVelocity(); + // remove component that is parallel to normal + angVelocity -= angVelocity.dot(newnormal)*newnormal; + MT_Vector3 angDamp = angVelocity * ((m_refDirection[1]>MT_EPSILON)?m_refDirection[1]:m_refDirection[0]); + spc->SetAngularVelocity(spc->GetAngularVelocity()+(angSpring-angDamp), false); + } + } else if (m_option & KX_ACT_CONSTRAINT_PERMANENT) { + // no contact but still keep running + result = true; + } + // don't set the position with this constraint + goto CHECK_TIME; + } + break; + case KX_ACT_CONSTRAINT_LOCX: + case KX_ACT_CONSTRAINT_LOCY: + case KX_ACT_CONSTRAINT_LOCZ: + newposition = position = obj->GetSGNode()->GetLocalPosition(); + 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; + } + obj->NodeSetLocalPosition(newposition); + goto CHECK_TIME; + } + 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) */ @@ -212,14 +587,28 @@ 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}, - {"setMin", (PyCFunction) KX_ConstraintActuator::sPySetMin, METH_VARARGS, SetMin_doc}, - {"getMin", (PyCFunction) KX_ConstraintActuator::sPyGetMin, METH_VARARGS, GetMin_doc}, - {"setMax", (PyCFunction) KX_ConstraintActuator::sPySetMax, METH_VARARGS, SetMax_doc}, - {"getMax", (PyCFunction) KX_ConstraintActuator::sPyGetMax, METH_VARARGS, GetMax_doc}, - {"setLimit", (PyCFunction) KX_ConstraintActuator::sPySetLimit, METH_VARARGS, SetLimit_doc}, - {"getLimit", (PyCFunction) KX_ConstraintActuator::sPyGetLimit, METH_VARARGS, GetLimit_doc}, + {"setDamp", (PyCFunction) KX_ConstraintActuator::sPySetDamp, METH_VARARGS, (PY_METHODCHAR)SetDamp_doc}, + {"getDamp", (PyCFunction) KX_ConstraintActuator::sPyGetDamp, METH_NOARGS, (PY_METHODCHAR)GetDamp_doc}, + {"setRotDamp", (PyCFunction) KX_ConstraintActuator::sPySetRotDamp, METH_VARARGS, (PY_METHODCHAR)SetRotDamp_doc}, + {"getRotDamp", (PyCFunction) KX_ConstraintActuator::sPyGetRotDamp, METH_NOARGS, (PY_METHODCHAR)GetRotDamp_doc}, + {"setDirection", (PyCFunction) KX_ConstraintActuator::sPySetDirection, METH_VARARGS, (PY_METHODCHAR)SetDirection_doc}, + {"getDirection", (PyCFunction) KX_ConstraintActuator::sPyGetDirection, METH_NOARGS, (PY_METHODCHAR)GetDirection_doc}, + {"setOption", (PyCFunction) KX_ConstraintActuator::sPySetOption, METH_VARARGS, (PY_METHODCHAR)SetOption_doc}, + {"getOption", (PyCFunction) KX_ConstraintActuator::sPyGetOption, METH_NOARGS, (PY_METHODCHAR)GetOption_doc}, + {"setTime", (PyCFunction) KX_ConstraintActuator::sPySetTime, METH_VARARGS, (PY_METHODCHAR)SetTime_doc}, + {"getTime", (PyCFunction) KX_ConstraintActuator::sPyGetTime, METH_NOARGS, (PY_METHODCHAR)GetTime_doc}, + {"setProperty", (PyCFunction) KX_ConstraintActuator::sPySetProperty, METH_VARARGS, (PY_METHODCHAR)SetProperty_doc}, + {"getProperty", (PyCFunction) KX_ConstraintActuator::sPyGetProperty, METH_NOARGS, (PY_METHODCHAR)GetProperty_doc}, + {"setMin", (PyCFunction) KX_ConstraintActuator::sPySetMin, METH_VARARGS, (PY_METHODCHAR)SetMin_doc}, + {"getMin", (PyCFunction) KX_ConstraintActuator::sPyGetMin, METH_NOARGS, (PY_METHODCHAR)GetMin_doc}, + {"setDistance", (PyCFunction) KX_ConstraintActuator::sPySetMin, METH_VARARGS, (PY_METHODCHAR)SetDistance_doc}, + {"getDistance", (PyCFunction) KX_ConstraintActuator::sPyGetMin, METH_NOARGS, (PY_METHODCHAR)GetDistance_doc}, + {"setMax", (PyCFunction) KX_ConstraintActuator::sPySetMax, METH_VARARGS, (PY_METHODCHAR)SetMax_doc}, + {"getMax", (PyCFunction) KX_ConstraintActuator::sPyGetMax, METH_NOARGS, (PY_METHODCHAR)GetMax_doc}, + {"setRayLength", (PyCFunction) KX_ConstraintActuator::sPySetMax, METH_VARARGS, (PY_METHODCHAR)SetRayLength_doc}, + {"getRayLength", (PyCFunction) KX_ConstraintActuator::sPyGetMax, METH_NOARGS, (PY_METHODCHAR)GetRayLength_doc}, + {"setLimit", (PyCFunction) KX_ConstraintActuator::sPySetLimit, METH_VARARGS, (PY_METHODCHAR)SetLimit_doc}, + {"getLimit", (PyCFunction) KX_ConstraintActuator::sPyGetLimit, METH_NOARGS, (PY_METHODCHAR)GetLimit_doc}, {NULL,NULL} //Sentinel }; @@ -228,10 +617,10 @@ PyObject* KX_ConstraintActuator::_getattr(const STR_String& attr) { } /* 2. setDamp */ -char KX_ConstraintActuator::SetDamp_doc[] = +const 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, @@ -241,23 +630,182 @@ 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" +const char KX_ConstraintActuator::GetDamp_doc[] = +"getDamp()\n" +"\tReturns the damping parameter.\n"; +PyObject* KX_ConstraintActuator::PyGetDamp(PyObject* self){ + return PyInt_FromLong(m_posDampTime); +} + +/* 2. setRotDamp */ +const 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 */ +const char KX_ConstraintActuator::GetRotDamp_doc[] = +"getRotDamp()\n" "\tReturns the damping time for application of the constraint.\n"; -PyObject* KX_ConstraintActuator::PyGetDamp(PyObject* self, +PyObject* KX_ConstraintActuator::PyGetRotDamp(PyObject* self){ + return PyInt_FromLong(m_rotDampTime); +} + +/* 2. setDirection */ +const 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 */ +const 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 *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 */ +const 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 */ +const char KX_ConstraintActuator::GetOption_doc[] = +"getOption()\n" +"\tReturns the option parameter.\n"; +PyObject* KX_ConstraintActuator::PyGetOption(PyObject* self){ + return PyInt_FromLong(m_option); +} + +/* 2. setTime */ +const 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){ - return PyInt_FromLong(m_dampTime); + PyObject* kwds) { + int t; + if(!PyArg_ParseTuple(args, "i", &t)) { + return NULL; + } + + if (t < 0) + t = 0; + m_activeTime = t; + + Py_Return; +} +/* 3. getTime */ +const char KX_ConstraintActuator::GetTime_doc[] = +"getTime()\n" +"\tReturns the time parameter.\n"; +PyObject* KX_ConstraintActuator::PyGetTime(PyObject* self){ + return PyInt_FromLong(m_activeTime); } +/* 2. setProperty */ +const 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 */ +const char KX_ConstraintActuator::GetProperty_doc[] = +"getProperty()\n" +"\tReturns the property parameter.\n"; +PyObject* KX_ConstraintActuator::PyGetProperty(PyObject* self){ + return PyString_FromString(m_property); +} + +/* 4. setDistance */ +const 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[] = +const char KX_ConstraintActuator::SetMin_doc[] = "setMin(lower_bound)\n" "\t- lower_bound: float\n" "\tSets the lower value of the interval to which the value\n" @@ -271,9 +819,7 @@ 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: @@ -281,25 +827,30 @@ PyObject* KX_ConstraintActuator::PySetMin(PyObject* self, case KX_ACT_CONSTRAINT_ROTZ: m_minimumBound = MT_radians(minArg); break; - default: - ; /* error */ } Py_Return; } +/* 5. getDistance */ +const char KX_ConstraintActuator::GetDistance_doc[] = +"getDistance()\n" +"\tReturns the distance parameter \n"; /* 5. getMin */ -char KX_ConstraintActuator::GetMin_doc[] = +const char KX_ConstraintActuator::GetMin_doc[] = "getMin()\n" "\tReturns the lower value of the interval to which the value\n" "\tis clipped.\n"; -PyObject* KX_ConstraintActuator::PyGetMin(PyObject* self, - PyObject* args, - PyObject* kwds) { +PyObject* KX_ConstraintActuator::PyGetMin(PyObject* self) { return PyFloat_FromDouble(m_minimumBound); } +/* 6. setRayLength */ +const 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[] = +const char KX_ConstraintActuator::SetMax_doc[] = "setMax(upper_bound)\n" "\t- upper_bound: float\n" "\tSets the upper value of the interval to which the value\n" @@ -313,9 +864,7 @@ 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: @@ -323,31 +872,41 @@ PyObject* KX_ConstraintActuator::PySetMax(PyObject* self, case KX_ACT_CONSTRAINT_ROTZ: m_maximumBound = MT_radians(maxArg); break; - default: - ; /* error */ } Py_Return; } +/* 7. getRayLength */ +const char KX_ConstraintActuator::GetRayLength_doc[] = +"getRayLength()\n" +"\tReturns the length of the ray\n"; /* 7. getMax */ -char KX_ConstraintActuator::GetMax_doc[] = +const char KX_ConstraintActuator::GetMax_doc[] = "getMax()\n" "\tReturns the upper value of the interval to which the value\n" "\tis clipped.\n"; -PyObject* KX_ConstraintActuator::PyGetMax(PyObject* self, - PyObject* args, - PyObject* kwds) { +PyObject* KX_ConstraintActuator::PyGetMax(PyObject* self) { return PyFloat_FromDouble(m_maximumBound); } /* This setter/getter probably for the constraint type */ /* 8. setLimit */ -char KX_ConstraintActuator::SetLimit_doc[] = +const 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, @@ -362,12 +921,10 @@ PyObject* KX_ConstraintActuator::PySetLimit(PyObject* self, Py_Return; } /* 9. getLimit */ -char KX_ConstraintActuator::GetLimit_doc[] = -"getLimit(type)\n" +const char KX_ConstraintActuator::GetLimit_doc[] = +"getLimit()\n" "\tReturns the type of constraint.\n"; -PyObject* KX_ConstraintActuator::PyGetLimit(PyObject* self, - PyObject* args, - PyObject* kwds) { +PyObject* KX_ConstraintActuator::PyGetLimit(PyObject* self) { return PyInt_FromLong(m_locrot); } |