KX_ObjectActuator.h

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/*
 * ***** 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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
    };
        
    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(CTR_Map<CTR_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();

#ifdef WITH_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 // WITH_PYTHON

};

#endif //__KX_OBJECTACTUATOR