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/**
* Do translation/rotation actions
*
* $Id$
*
* ***** 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 *****
*/
#ifndef __KX_OBJECTACTUATOR
#define __KX_OBJECTACTUATOR
#include "SCA_IActuator.h"
#include "MT_Vector3.h"
#ifdef USE_MATHUTILS
void KX_ObjectActuator_Mathutils_Callback_Init(void);
#endif
class KX_GameObject;
//
// Stores the flags for each CValue derived class
//
struct KX_LocalFlags {
KX_LocalFlags() :
Force(false),
Torque(false),
DRot(false),
DLoc(false),
LinearVelocity(false),
AngularVelocity(false),
AddOrSetLinV(false),
ZeroForce(false),
ZeroDRot(false),
ZeroDLoc(false),
ZeroLinearVelocity(false),
ZeroAngularVelocity(false)
{
}
bool Force;
bool Torque;
bool DRot;
bool DLoc;
bool LinearVelocity;
bool AngularVelocity;
bool AddOrSetLinV;
bool ServoControl;
bool ZeroForce;
bool ZeroTorque;
bool ZeroDRot;
bool ZeroDLoc;
bool ZeroLinearVelocity;
bool ZeroAngularVelocity;
};
class KX_ObjectActuator : public SCA_IActuator
{
Py_Header;
MT_Vector3 m_force;
MT_Vector3 m_torque;
MT_Vector3 m_dloc;
MT_Vector3 m_drot;
MT_Vector3 m_linear_velocity;
MT_Vector3 m_angular_velocity;
MT_Vector3 m_pid;
MT_Scalar m_linear_length2;
MT_Scalar m_angular_length2;
// used in damping
MT_Scalar m_current_linear_factor;
MT_Scalar m_current_angular_factor;
short m_damping;
// used in servo control
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
// 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 {
KX_OBJECT_ACT_NODEF = 0,
KX_OBJECT_ACT_FORCE,
KX_OBJECT_ACT_TORQUE,
KX_OBJECT_ACT_DLOC,
KX_OBJECT_ACT_DROT,
KX_OBJECT_ACT_LINEAR_VELOCITY,
KX_OBJECT_ACT_ANGULAR_VELOCITY,
KX_OBJECT_ACT_MAX
};
/**
* Check whether this is a valid vector mode
*/
bool isValid(KX_OBJECT_ACT_VEC_TYPE type);
KX_ObjectActuator(
SCA_IObject* gameobj,
KX_GameObject* refobj,
const MT_Vector3& force,
const MT_Vector3& torque,
const MT_Vector3& dloc,
const MT_Vector3& drot,
const MT_Vector3& linV,
const MT_Vector3& angV,
const short damping,
const KX_LocalFlags& flag
);
~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()
{
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();
#ifndef DISABLE_PYTHON
/* --------------------------------------------------------------------- */
/* Python interface ---------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* Attributes */
static PyObject* pyattr_get_forceLimitX(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
static int pyattr_set_forceLimitX(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
static PyObject* pyattr_get_forceLimitY(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
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);
#ifdef USE_MATHUTILS
static PyObject* pyattr_get_linV(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
static int pyattr_set_linV(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
static PyObject* pyattr_get_angV(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
static int pyattr_set_angV(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
#endif
// This lets the attribute macros use UpdateFuzzyFlags()
static int PyUpdateFuzzyFlags(void *self, const PyAttributeDef *attrdef)
{
KX_ObjectActuator* act = reinterpret_cast<KX_ObjectActuator*>(self);
act->UpdateFuzzyFlags();
return 0;
}
// This is the keep the PID values in check after they are assigned with Python
static int PyCheckPid(void *self, const PyAttributeDef *attrdef)
{
KX_ObjectActuator* act = reinterpret_cast<KX_ObjectActuator*>(self);
//P 0 to 200
if (act->m_pid[0] < 0) {
act->m_pid[0] = 0;
} else if (act->m_pid[0] > 200) {
act->m_pid[0] = 200;
}
//I 0 to 3
if (act->m_pid[1] < 0) {
act->m_pid[1] = 0;
} else if (act->m_pid[1] > 3) {
act->m_pid[1] = 3;
}
//D -100 to 100
if (act->m_pid[2] < -100) {
act->m_pid[2] = -100;
} else if (act->m_pid[2] > 100) {
act->m_pid[2] = 100;
}
return 0;
}
#endif // DISABLE_PYTHON
};
#endif //__KX_OBJECTACTUATOR
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