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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"
//
// Bitfield that 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)
{
}
unsigned short Force : 1;
unsigned short Torque : 1;
unsigned short DRot : 1;
unsigned short DLoc : 1;
unsigned short LinearVelocity : 1;
unsigned short AngularVelocity : 1;
unsigned short AddOrSetLinV : 1;
unsigned short ServoControl : 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
{
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_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;
// 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,
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,
PyTypeObject* T=&Type
);
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();
/* --------------------------------------------------------------------- */
/* Python interface ---------------------------------------------------- */
/* --------------------------------------------------------------------- */
virtual PyObject* _getattr(const char *attr);
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetForce);
KX_PYMETHOD(KX_ObjectActuator,SetForce);
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetTorque);
KX_PYMETHOD(KX_ObjectActuator,SetTorque);
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetDLoc);
KX_PYMETHOD(KX_ObjectActuator,SetDLoc);
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetDRot);
KX_PYMETHOD(KX_ObjectActuator,SetDRot);
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetLinearVelocity);
KX_PYMETHOD(KX_ObjectActuator,SetLinearVelocity);
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetAngularVelocity);
KX_PYMETHOD(KX_ObjectActuator,SetAngularVelocity);
KX_PYMETHOD(KX_ObjectActuator,SetDamping);
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetDamping);
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetForceLimitX);
KX_PYMETHOD(KX_ObjectActuator,SetForceLimitX);
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetForceLimitY);
KX_PYMETHOD(KX_ObjectActuator,SetForceLimitY);
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetForceLimitZ);
KX_PYMETHOD(KX_ObjectActuator,SetForceLimitZ);
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetPID);
KX_PYMETHOD(KX_ObjectActuator,SetPID);
};
#endif //__KX_OBJECTACTUATOR
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