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|
/**
* Apply a constraint to a position or rotation value
*
* $Id$
*
* ***** 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_IActuator.h"
#include "KX_ConstraintActuator.h"
#include "SCA_IObject.h"
#include "MT_Point3.h"
#include "MT_Matrix3x3.h"
#include "KX_GameObject.h"
#include "KX_RayCast.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
/* ------------------------------------------------------------------------- */
/* Native functions */
/* ------------------------------------------------------------------------- */
KX_ConstraintActuator::KX_ConstraintActuator(SCA_IObject *gameobj,
int posDampTime,
int rotDampTime,
float minBound,
float maxBound,
float refDir[3],
int locrotxyz,
int time,
int option,
char *property,
PyTypeObject* T) :
m_refDirection(refDir),
m_currentTime(0),
SCA_IActuator(gameobj, T)
{
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_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;
}
} /* End of constructor */
KX_ConstraintActuator::~KX_ConstraintActuator()
{
// there's nothing to be done here, really....
} /* end of destructor */
bool KX_ConstraintActuator::RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data)
{
KX_GameObject* hitKXObj = client->m_gameobject;
if (client->m_type > KX_ClientObjectInfo::ACTOR)
{
// false hit
return false;
}
bool bFound = false;
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;
}
}
return bFound;
}
bool KX_ConstraintActuator::Update(double curtime, bool frame)
{
bool result = false;
bool bNegativeEvent = IsNegativeEvent();
RemoveAllEvents();
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, refDirection;
MT_Matrix3x3 rotation = obj->NodeGetWorldOrientation();
MT_Scalar filter, newdistance, cosangle;
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;
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;
}
if (m_posDampTime) {
// apply damping on the direction
direction = filter*direction + (1.0-filter)*refDirection;
} else {
direction = 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) */
void KX_ConstraintActuator::Clamp(MT_Scalar &var,
float min,
float max) {
if (var < min) {
var = min;
} else if (var > max) {
var = max;
}
}
bool KX_ConstraintActuator::IsValidMode(KX_ConstraintActuator::KX_CONSTRAINTTYPE m)
{
bool res = false;
if ( (m > KX_ACT_CONSTRAINT_NODEF) && (m < KX_ACT_CONSTRAINT_MAX)) {
res = true;
}
return res;
}
/* ------------------------------------------------------------------------- */
/* Python functions */
/* ------------------------------------------------------------------------- */
/* Integration hooks ------------------------------------------------------- */
PyTypeObject KX_ConstraintActuator::Type = {
PyObject_HEAD_INIT(&PyType_Type)
0,
"KX_ConstraintActuator",
sizeof(KX_ConstraintActuator),
0,
PyDestructor,
0,
__getattr,
__setattr,
0, //&MyPyCompare,
__repr,
0, //&cvalue_as_number,
0,
0,
0,
0
};
PyParentObject KX_ConstraintActuator::Parents[] = {
&KX_ConstraintActuator::Type,
&SCA_IActuator::Type,
&SCA_ILogicBrick::Type,
&CValue::Type,
NULL
};
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
};
PyObject* KX_ConstraintActuator::_getattr(const STR_String& attr) {
_getattr_up(SCA_IActuator);
}
/* 2. setDamp */
char KX_ConstraintActuator::SetDamp_doc[] =
"setDamp(duration)\n"
"\t- duration: integer\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,
PyObject* kwds) {
int dampArg;
if(!PyArg_ParseTuple(args, "i", &dampArg)) {
return NULL;
}
m_posDampTime = dampArg;
if (m_posDampTime < 0) m_posDampTime = 0;
Py_Return;
}
/* 3. getDamp */
char KX_ConstraintActuator::GetDamp_doc[] =
"getDamp()\n"
"\tReturns the damping parameter.\n";
PyObject* KX_ConstraintActuator::PyGetDamp(PyObject* self,
PyObject* args,
PyObject* kwds){
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"
"\t- lower_bound: float\n"
"\tSets the lower value of the interval to which the value\n"
"\tis clipped.\n";
PyObject* KX_ConstraintActuator::PySetMin(PyObject* self,
PyObject* args,
PyObject* kwds) {
float minArg;
if(!PyArg_ParseTuple(args, "f", &minArg)) {
return NULL;
}
switch (m_locrot) {
default:
m_minimumBound = minArg;
break;
case KX_ACT_CONSTRAINT_ROTX:
case KX_ACT_CONSTRAINT_ROTY:
case KX_ACT_CONSTRAINT_ROTZ:
m_minimumBound = MT_radians(minArg);
break;
}
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"
"\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) {
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"
"\t- upper_bound: float\n"
"\tSets the upper value of the interval to which the value\n"
"\tis clipped.\n";
PyObject* KX_ConstraintActuator::PySetMax(PyObject* self,
PyObject* args,
PyObject* kwds){
float maxArg;
if(!PyArg_ParseTuple(args, "f", &maxArg)) {
return NULL;
}
switch (m_locrot) {
default:
m_maximumBound = maxArg;
break;
case KX_ACT_CONSTRAINT_ROTX:
case KX_ACT_CONSTRAINT_ROTY:
case KX_ACT_CONSTRAINT_ROTZ:
m_maximumBound = MT_radians(maxArg);
break;
}
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"
"\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) {
return PyFloat_FromDouble(m_maximumBound);
}
/* This setter/getter probably for the constraint type */
/* 8. setLimit */
char KX_ConstraintActuator::SetLimit_doc[] =
"setLimit(type)\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,
PyObject* kwds) {
int locrotArg;
if(!PyArg_ParseTuple(args, "i", &locrotArg)) {
return NULL;
}
if (IsValidMode((KX_CONSTRAINTTYPE)locrotArg)) m_locrot = locrotArg;
Py_Return;
}
/* 9. getLimit */
char KX_ConstraintActuator::GetLimit_doc[] =
"getLimit()\n"
"\tReturns the type of constraint.\n";
PyObject* KX_ConstraintActuator::PyGetLimit(PyObject* self,
PyObject* args,
PyObject* kwds) {
return PyInt_FromLong(m_locrot);
}
/* eof */
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