Revision: 20187 http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=20187 Author: ben2610 Date: 2009-05-13 18:48:33 +0200 (Wed, 13 May 2009)
Log Message: ----------- BGE API cleanup: motion actuator. Apply patch from Moguri. Modified Paths: -------------- trunk/blender/source/gameengine/Ketsji/KX_ObjectActuator.cpp trunk/blender/source/gameengine/Ketsji/KX_ObjectActuator.h trunk/blender/source/gameengine/PyDoc/GameTypes.py Modified: trunk/blender/source/gameengine/Ketsji/KX_ObjectActuator.cpp =================================================================== --- trunk/blender/source/gameengine/Ketsji/KX_ObjectActuator.cpp 2009-05-13 15:41:33 UTC (rev 20186) +++ trunk/blender/source/gameengine/Ketsji/KX_ObjectActuator.cpp 2009-05-13 16:48:33 UTC (rev 20187) @@ -31,6 +31,7 @@ #include "KX_ObjectActuator.h" #include "KX_GameObject.h" +#include "KX_PyMath.h" // For PyVecTo - should this include be put in PyObjectPlus? #include "KX_IPhysicsController.h" #ifdef HAVE_CONFIG_H @@ -76,7 +77,10 @@ { // in servo motion, the force is local if the target velocity is local m_bitLocalFlag.Force = m_bitLocalFlag.LinearVelocity; + + m_pid = m_torque; } + UpdateFuzzyFlags(); } @@ -132,7 +136,7 @@ MT_Vector3 dv = e - m_previous_error; MT_Vector3 I = m_error_accumulator + e; - m_force = m_torque.x()*e+m_torque.y()*I+m_torque.z()*dv; + m_force = m_pid.x()*e+m_pid.y()*I+m_pid.z()*dv; // to automatically adapt the PID coefficient to mass; m_force *= mass; if (m_bitLocalFlag.Torque) @@ -306,6 +310,7 @@ }; PyMethodDef KX_ObjectActuator::Methods[] = { + // Deprecated -----> {"getForce", (PyCFunction) KX_ObjectActuator::sPyGetForce, METH_NOARGS}, {"setForce", (PyCFunction) KX_ObjectActuator::sPySetForce, METH_VARARGS}, {"getTorque", (PyCFunction) KX_ObjectActuator::sPyGetTorque, METH_NOARGS}, @@ -329,40 +334,163 @@ {"setPID", (PyCFunction) KX_ObjectActuator::sPyGetPID, METH_NOARGS}, {"getPID", (PyCFunction) KX_ObjectActuator::sPySetPID, METH_VARARGS}, + // <----- Deprecated - {NULL,NULL} //Sentinel }; PyAttributeDef KX_ObjectActuator::Attributes[] = { - //KX_PYATTRIBUTE_TODO("force"), - //KX_PYATTRIBUTE_TODO("torque"), - //KX_PYATTRIBUTE_TODO("dLoc"), - //KX_PYATTRIBUTE_TODO("dRot"), - //KX_PYATTRIBUTE_TODO("linV"), - //KX_PYATTRIBUTE_TODO("angV"), - //KX_PYATTRIBUTE_TODO("damping"), - //KX_PYATTRIBUTE_TODO("forceLimitX"), - //KX_PYATTRIBUTE_TODO("forceLimitY"), - //KX_PYATTRIBUTE_TODO("forceLimitZ"), - //KX_PYATTRIBUTE_TODO("pid"), + KX_PYATTRIBUTE_VECTOR_RW_CHECK("force", -1000, 1000, false, KX_ObjectActuator, m_force, PyUpdateFuzzyFlags), + KX_PYATTRIBUTE_BOOL_RW("useLocalForce", KX_ObjectActuator, m_bitLocalFlag.Force), + KX_PYATTRIBUTE_VECTOR_RW_CHECK("torque", -1000, 1000, false, KX_ObjectActuator, m_torque, PyUpdateFuzzyFlags), + KX_PYATTRIBUTE_BOOL_RW("useLocalTorque", KX_ObjectActuator, m_bitLocalFlag.Torque), + KX_PYATTRIBUTE_VECTOR_RW_CHECK("dLoc", -1000, 1000, false, KX_ObjectActuator, m_dloc, PyUpdateFuzzyFlags), + KX_PYATTRIBUTE_BOOL_RW("useLocalDLoc", KX_ObjectActuator, m_bitLocalFlag.DLoc), + KX_PYATTRIBUTE_VECTOR_RW_CHECK("dRot", -1000, 1000, false, KX_ObjectActuator, m_drot, PyUpdateFuzzyFlags), + KX_PYATTRIBUTE_BOOL_RW("useLocalDRot", KX_ObjectActuator, m_bitLocalFlag.DRot), + KX_PYATTRIBUTE_VECTOR_RW_CHECK("linV", -1000, 1000, false, KX_ObjectActuator, m_linear_velocity, PyUpdateFuzzyFlags), + KX_PYATTRIBUTE_BOOL_RW("useLocalLinV", KX_ObjectActuator, m_bitLocalFlag.LinearVelocity), + KX_PYATTRIBUTE_VECTOR_RW_CHECK("angV", -1000, 1000, false, KX_ObjectActuator, m_angular_velocity, PyUpdateFuzzyFlags), + KX_PYATTRIBUTE_BOOL_RW("useLocalAngV", KX_ObjectActuator, m_bitLocalFlag.AngularVelocity), + KX_PYATTRIBUTE_SHORT_RW("damping", 0, 1000, false, KX_ObjectActuator, m_damping), + KX_PYATTRIBUTE_RW_FUNCTION("forceLimitX", KX_ObjectActuator, pyattr_get_forceLimitX, pyattr_set_forceLimitX), + KX_PYATTRIBUTE_RW_FUNCTION("forceLimitY", KX_ObjectActuator, pyattr_get_forceLimitY, pyattr_set_forceLimitY), + KX_PYATTRIBUTE_RW_FUNCTION("forceLimitZ", KX_ObjectActuator, pyattr_get_forceLimitZ, pyattr_set_forceLimitZ), + KX_PYATTRIBUTE_VECTOR_RW_CHECK("pid", -100, 200, true, KX_ObjectActuator, m_pid, PyCheckPid), { NULL } //Sentinel }; PyObject* KX_ObjectActuator::py_getattro(PyObject *attr) { py_getattro_up(SCA_IActuator); -}; +} + PyObject* KX_ObjectActuator::py_getattro_dict() { py_getattro_dict_up(SCA_IActuator); } +int KX_ObjectActuator::py_setattro(PyObject *attr, PyObject *value) +{ + py_setattro_up(SCA_IActuator); +} + +/* Attribute get/set functions */ + +PyObject* KX_ObjectActuator::pyattr_get_forceLimitX(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef) +{ + KX_ObjectActuator* self = reinterpret_cast<KX_ObjectActuator*>(self_v); + PyObject *retVal = PyList_New(3); + + PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(self->m_drot[0])); + PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(self->m_dloc[0])); + PyList_SET_ITEM(retVal, 2, PyBool_FromLong(self->m_bitLocalFlag.Torque)); + + return retVal; +} + +int KX_ObjectActuator::pyattr_set_forceLimitX(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value) +{ + KX_ObjectActuator* self = reinterpret_cast<KX_ObjectActuator*>(self_v); + + PyObject* seq = PySequence_Fast(value, ""); + if (seq && PySequence_Fast_GET_SIZE(seq) == 3) + { + self->m_drot[0] = PyFloat_AsDouble(PySequence_Fast_GET_ITEM(value, 0)); + self->m_dloc[0] = PyFloat_AsDouble(PySequence_Fast_GET_ITEM(value, 1)); + self->m_bitLocalFlag.Torque = (PyInt_AsLong(PySequence_Fast_GET_ITEM(value, 2)) != 0); + + if (!PyErr_Occurred()) + { + Py_DECREF(seq); + return PY_SET_ATTR_SUCCESS; + } + } + + Py_XDECREF(seq); + + PyErr_SetString(PyExc_ValueError, "expected a sequence of 2 floats and a bool"); + return PY_SET_ATTR_FAIL; +} + +PyObject* KX_ObjectActuator::pyattr_get_forceLimitY(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef) +{ + KX_ObjectActuator* self = reinterpret_cast<KX_ObjectActuator*>(self_v); + PyObject *retVal = PyList_New(3); + + PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(self->m_drot[1])); + PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(self->m_dloc[1])); + PyList_SET_ITEM(retVal, 2, PyBool_FromLong(self->m_bitLocalFlag.DLoc)); + + return retVal; +} + +int KX_ObjectActuator::pyattr_set_forceLimitY(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value) +{ + KX_ObjectActuator* self = reinterpret_cast<KX_ObjectActuator*>(self_v); + + PyObject* seq = PySequence_Fast(value, ""); + if (seq && PySequence_Fast_GET_SIZE(seq) == 3) + { + self->m_drot[1] = PyFloat_AsDouble(PySequence_Fast_GET_ITEM(value, 0)); + self->m_dloc[1] = PyFloat_AsDouble(PySequence_Fast_GET_ITEM(value, 1)); + self->m_bitLocalFlag.DLoc = (PyInt_AsLong(PySequence_Fast_GET_ITEM(value, 2)) != 0); + + if (!PyErr_Occurred()) + { + Py_DECREF(seq); + return PY_SET_ATTR_SUCCESS; + } + } + + Py_XDECREF(seq); + + PyErr_SetString(PyExc_ValueError, "expected a sequence of 2 floats and a bool"); + return PY_SET_ATTR_FAIL; +} + +PyObject* KX_ObjectActuator::pyattr_get_forceLimitZ(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef) +{ + KX_ObjectActuator* self = reinterpret_cast<KX_ObjectActuator*>(self_v); + PyObject *retVal = PyList_New(3); + + PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(self->m_drot[2])); + PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(self->m_dloc[2])); + PyList_SET_ITEM(retVal, 2, PyBool_FromLong(self->m_bitLocalFlag.DRot)); + + return retVal; +} + +int KX_ObjectActuator::pyattr_set_forceLimitZ(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value) +{ + KX_ObjectActuator* self = reinterpret_cast<KX_ObjectActuator*>(self_v); + + PyObject* seq = PySequence_Fast(value, ""); + if (seq && PySequence_Fast_GET_SIZE(seq) == 3) + { + self->m_drot[2] = PyFloat_AsDouble(PySequence_Fast_GET_ITEM(value, 0)); + self->m_dloc[2] = PyFloat_AsDouble(PySequence_Fast_GET_ITEM(value, 1)); + self->m_bitLocalFlag.DRot = (PyInt_AsLong(PySequence_Fast_GET_ITEM(value, 2)) != 0); + + if (!PyErr_Occurred()) + { + Py_DECREF(seq); + return PY_SET_ATTR_SUCCESS; + } + } + + Py_XDECREF(seq); + + PyErr_SetString(PyExc_ValueError, "expected a sequence of 2 floats and a bool"); + return PY_SET_ATTR_FAIL; +} + /* 1. set ------------------------------------------------------------------ */ /* Removed! */ /* 2. getForce */ PyObject* KX_ObjectActuator::PyGetForce() { + ShowDeprecationWarning("getForce()", "the force and the useLocalForce properties"); PyObject *retVal = PyList_New(4); PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_force[0])); @@ -375,6 +503,7 @@ /* 3. setForce */ PyObject* KX_ObjectActuator::PySetForce(PyObject* args) { + ShowDeprecationWarning("setForce()", "the force and the useLocalForce properties"); float vecArg[3]; int bToggle = 0; if (!PyArg_ParseTuple(args, "fffi:setForce", &vecArg[0], &vecArg[1], @@ -390,6 +519,7 @@ /* 4. getTorque */ PyObject* KX_ObjectActuator::PyGetTorque() { + ShowDeprecationWarning("getTorque()", "the torque and the useLocalTorque properties"); PyObject *retVal = PyList_New(4); PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_torque[0])); @@ -402,6 +532,7 @@ /* 5. setTorque */ PyObject* KX_ObjectActuator::PySetTorque(PyObject* args) { + ShowDeprecationWarning("setTorque()", "the torque and the useLocalTorque properties"); float vecArg[3]; int bToggle = 0; if (!PyArg_ParseTuple(args, "fffi:setTorque", &vecArg[0], &vecArg[1], @@ -417,6 +548,7 @@ /* 6. getDLoc */ PyObject* KX_ObjectActuator::PyGetDLoc() { + ShowDeprecationWarning("getDLoc()", "the dLoc and the useLocalDLoc properties"); PyObject *retVal = PyList_New(4); PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_dloc[0])); @@ -429,6 +561,7 @@ /* 7. setDLoc */ PyObject* KX_ObjectActuator::PySetDLoc(PyObject* args) { + ShowDeprecationWarning("setDLoc()", "the dLoc and the useLocalDLoc properties"); float vecArg[3]; int bToggle = 0; if(!PyArg_ParseTuple(args, "fffi:setDLoc", &vecArg[0], &vecArg[1], @@ -444,6 +577,7 @@ /* 8. getDRot */ PyObject* KX_ObjectActuator::PyGetDRot() { + ShowDeprecationWarning("getDRot()", "the dRot and the useLocalDRot properties"); PyObject *retVal = PyList_New(4); PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_drot[0])); @@ -456,6 +590,7 @@ /* 9. setDRot */ PyObject* KX_ObjectActuator::PySetDRot(PyObject* args) { @@ Diff output truncated at 10240 characters. @@ _______________________________________________ Bf-blender-cvs mailing list Bf-blender-cvs@blender.org http://lists.blender.org/mailman/listinfo/bf-blender-cvs