1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
|
/**
* 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* py_getattro(PyObject *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
|