Campbell Barton
6b9f3b5f5c
Remove the last of the odd C++/python wrapper code from http://www.python.org/doc/PyCPP.html (~1998) * Use python subclasses rather then having fake subclassing through get/set attributes calling parent types. * PyObject getset arrays are created while initializing the types, converted from our own attribute arrays. This way python deals with subclasses and we dont have to define getattro or setattro functions for each type. * GameObjects and Scenes no longer have attribute access to properties. only dictionary style access - ob['prop'] * remove each class's get/set/dir functions. * remove isA() methods, can use PyObject_TypeCheck() in C and issubclass() in python. * remove Parents[] array for each C++ class, was only used for isA() and wasnt correct in quite a few cases. * remove PyTypeObject that was being passed as the last argument to each class (the parent classes too). TODO - * Light and VertexProxy need to be converted to using attributes. * memory for getset arrays is never freed, not that bad since its will only allocates once.
979 lines
32 KiB
C++
979 lines
32 KiB
C++
/**
|
|
* 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 *****
|
|
*/
|
|
|
|
#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
|
|
#include <config.h>
|
|
#endif
|
|
|
|
/* ------------------------------------------------------------------------- */
|
|
/* Native functions */
|
|
/* ------------------------------------------------------------------------- */
|
|
|
|
KX_ObjectActuator::
|
|
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
|
|
) :
|
|
SCA_IActuator(gameobj),
|
|
m_force(force),
|
|
m_torque(torque),
|
|
m_dloc(dloc),
|
|
m_drot(drot),
|
|
m_linear_velocity(linV),
|
|
m_angular_velocity(angV),
|
|
m_linear_length2(0.0),
|
|
m_current_linear_factor(0.0),
|
|
m_current_angular_factor(0.0),
|
|
m_damping(damping),
|
|
m_previous_error(0.0,0.0,0.0),
|
|
m_error_accumulator(0.0,0.0,0.0),
|
|
m_bitLocalFlag (flag),
|
|
m_reference(refobj),
|
|
m_active_combined_velocity (false),
|
|
m_linear_damping_active(false),
|
|
m_angular_damping_active(false)
|
|
{
|
|
if (m_bitLocalFlag.ServoControl)
|
|
{
|
|
// in servo motion, the force is local if the target velocity is local
|
|
m_bitLocalFlag.Force = m_bitLocalFlag.LinearVelocity;
|
|
|
|
m_pid = m_torque;
|
|
}
|
|
if (m_reference)
|
|
m_reference->RegisterActuator(this);
|
|
UpdateFuzzyFlags();
|
|
}
|
|
|
|
KX_ObjectActuator::~KX_ObjectActuator()
|
|
{
|
|
if (m_reference)
|
|
m_reference->UnregisterActuator(this);
|
|
}
|
|
|
|
bool KX_ObjectActuator::Update()
|
|
{
|
|
|
|
bool bNegativeEvent = IsNegativeEvent();
|
|
RemoveAllEvents();
|
|
|
|
KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent());
|
|
|
|
if (bNegativeEvent) {
|
|
// If we previously set the linear velocity we now have to inform
|
|
// the physics controller that we no longer wish to apply it and that
|
|
// it should reconcile the externally set velocity with it's
|
|
// own velocity.
|
|
if (m_active_combined_velocity) {
|
|
if (parent)
|
|
parent->ResolveCombinedVelocities(
|
|
m_linear_velocity,
|
|
m_angular_velocity,
|
|
(m_bitLocalFlag.LinearVelocity) != 0,
|
|
(m_bitLocalFlag.AngularVelocity) != 0
|
|
);
|
|
m_active_combined_velocity = false;
|
|
}
|
|
m_linear_damping_active = false;
|
|
m_angular_damping_active = false;
|
|
m_error_accumulator.setValue(0.0,0.0,0.0);
|
|
m_previous_error.setValue(0.0,0.0,0.0);
|
|
return false;
|
|
|
|
} else if (parent)
|
|
{
|
|
if (m_bitLocalFlag.ServoControl)
|
|
{
|
|
// In this mode, we try to reach a target speed using force
|
|
// As we don't know the friction, we must implement a generic
|
|
// servo control to achieve the speed in a configurable
|
|
// v = current velocity
|
|
// V = target velocity
|
|
// e = V-v = speed error
|
|
// dt = time interval since previous update
|
|
// I = sum(e(t)*dt)
|
|
// dv = e(t) - e(t-1)
|
|
// KP, KD, KI : coefficient
|
|
// F = KP*e+KI*I+KD*dv
|
|
MT_Scalar mass = parent->GetMass();
|
|
if (mass < MT_EPSILON)
|
|
return false;
|
|
MT_Vector3 v = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity);
|
|
if (m_reference)
|
|
{
|
|
const MT_Point3& mypos = parent->NodeGetWorldPosition();
|
|
const MT_Point3& refpos = m_reference->NodeGetWorldPosition();
|
|
MT_Point3 relpos;
|
|
relpos = (mypos-refpos);
|
|
MT_Vector3 vel= m_reference->GetVelocity(relpos);
|
|
if (m_bitLocalFlag.LinearVelocity)
|
|
// must convert in local space
|
|
vel = parent->NodeGetWorldOrientation().transposed()*vel;
|
|
v -= vel;
|
|
}
|
|
MT_Vector3 e = m_linear_velocity - v;
|
|
MT_Vector3 dv = e - m_previous_error;
|
|
MT_Vector3 I = m_error_accumulator + e;
|
|
|
|
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)
|
|
{
|
|
if (m_force[0] > m_dloc[0])
|
|
{
|
|
m_force[0] = m_dloc[0];
|
|
I[0] = m_error_accumulator[0];
|
|
} else if (m_force[0] < m_drot[0])
|
|
{
|
|
m_force[0] = m_drot[0];
|
|
I[0] = m_error_accumulator[0];
|
|
}
|
|
}
|
|
if (m_bitLocalFlag.DLoc)
|
|
{
|
|
if (m_force[1] > m_dloc[1])
|
|
{
|
|
m_force[1] = m_dloc[1];
|
|
I[1] = m_error_accumulator[1];
|
|
} else if (m_force[1] < m_drot[1])
|
|
{
|
|
m_force[1] = m_drot[1];
|
|
I[1] = m_error_accumulator[1];
|
|
}
|
|
}
|
|
if (m_bitLocalFlag.DRot)
|
|
{
|
|
if (m_force[2] > m_dloc[2])
|
|
{
|
|
m_force[2] = m_dloc[2];
|
|
I[2] = m_error_accumulator[2];
|
|
} else if (m_force[2] < m_drot[2])
|
|
{
|
|
m_force[2] = m_drot[2];
|
|
I[2] = m_error_accumulator[2];
|
|
}
|
|
}
|
|
m_previous_error = e;
|
|
m_error_accumulator = I;
|
|
parent->ApplyForce(m_force,(m_bitLocalFlag.LinearVelocity) != 0);
|
|
} else
|
|
{
|
|
if (!m_bitLocalFlag.ZeroForce)
|
|
{
|
|
parent->ApplyForce(m_force,(m_bitLocalFlag.Force) != 0);
|
|
}
|
|
if (!m_bitLocalFlag.ZeroTorque)
|
|
{
|
|
parent->ApplyTorque(m_torque,(m_bitLocalFlag.Torque) != 0);
|
|
}
|
|
if (!m_bitLocalFlag.ZeroDLoc)
|
|
{
|
|
parent->ApplyMovement(m_dloc,(m_bitLocalFlag.DLoc) != 0);
|
|
}
|
|
if (!m_bitLocalFlag.ZeroDRot)
|
|
{
|
|
parent->ApplyRotation(m_drot,(m_bitLocalFlag.DRot) != 0);
|
|
}
|
|
if (!m_bitLocalFlag.ZeroLinearVelocity)
|
|
{
|
|
if (m_bitLocalFlag.AddOrSetLinV) {
|
|
parent->addLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0);
|
|
} else {
|
|
m_active_combined_velocity = true;
|
|
if (m_damping > 0) {
|
|
MT_Vector3 linV;
|
|
if (!m_linear_damping_active) {
|
|
// delta and the start speed (depends on the existing speed in that direction)
|
|
linV = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity);
|
|
// keep only the projection along the desired direction
|
|
m_current_linear_factor = linV.dot(m_linear_velocity)/m_linear_length2;
|
|
m_linear_damping_active = true;
|
|
}
|
|
if (m_current_linear_factor < 1.0)
|
|
m_current_linear_factor += 1.0/m_damping;
|
|
if (m_current_linear_factor > 1.0)
|
|
m_current_linear_factor = 1.0;
|
|
linV = m_current_linear_factor * m_linear_velocity;
|
|
parent->setLinearVelocity(linV,(m_bitLocalFlag.LinearVelocity) != 0);
|
|
} else {
|
|
parent->setLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0);
|
|
}
|
|
}
|
|
}
|
|
if (!m_bitLocalFlag.ZeroAngularVelocity)
|
|
{
|
|
m_active_combined_velocity = true;
|
|
if (m_damping > 0) {
|
|
MT_Vector3 angV;
|
|
if (!m_angular_damping_active) {
|
|
// delta and the start speed (depends on the existing speed in that direction)
|
|
angV = parent->GetAngularVelocity(m_bitLocalFlag.AngularVelocity);
|
|
// keep only the projection along the desired direction
|
|
m_current_angular_factor = angV.dot(m_angular_velocity)/m_angular_length2;
|
|
m_angular_damping_active = true;
|
|
}
|
|
if (m_current_angular_factor < 1.0)
|
|
m_current_angular_factor += 1.0/m_damping;
|
|
if (m_current_angular_factor > 1.0)
|
|
m_current_angular_factor = 1.0;
|
|
angV = m_current_angular_factor * m_angular_velocity;
|
|
parent->setAngularVelocity(angV,(m_bitLocalFlag.AngularVelocity) != 0);
|
|
} else {
|
|
parent->setAngularVelocity(m_angular_velocity,(m_bitLocalFlag.AngularVelocity) != 0);
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
|
|
CValue* KX_ObjectActuator::GetReplica()
|
|
{
|
|
KX_ObjectActuator* replica = new KX_ObjectActuator(*this);//m_float,GetName());
|
|
replica->ProcessReplica();
|
|
|
|
return replica;
|
|
}
|
|
|
|
void KX_ObjectActuator::ProcessReplica()
|
|
{
|
|
SCA_IActuator::ProcessReplica();
|
|
if (m_reference)
|
|
m_reference->RegisterActuator(this);
|
|
}
|
|
|
|
bool KX_ObjectActuator::UnlinkObject(SCA_IObject* clientobj)
|
|
{
|
|
if (clientobj == (SCA_IObject*)m_reference)
|
|
{
|
|
// this object is being deleted, we cannot continue to use it as reference.
|
|
m_reference = NULL;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
void KX_ObjectActuator::Relink(GEN_Map<GEN_HashedPtr, void*> *obj_map)
|
|
{
|
|
void **h_obj = (*obj_map)[m_reference];
|
|
if (h_obj) {
|
|
if (m_reference)
|
|
m_reference->UnregisterActuator(this);
|
|
m_reference = (KX_GameObject*)(*h_obj);
|
|
m_reference->RegisterActuator(this);
|
|
}
|
|
}
|
|
|
|
/* some 'standard' utilities... */
|
|
bool KX_ObjectActuator::isValid(KX_ObjectActuator::KX_OBJECT_ACT_VEC_TYPE type)
|
|
{
|
|
bool res = false;
|
|
res = (type > KX_OBJECT_ACT_NODEF) && (type < KX_OBJECT_ACT_MAX);
|
|
return res;
|
|
}
|
|
|
|
|
|
|
|
/* ------------------------------------------------------------------------- */
|
|
/* Python functions */
|
|
/* ------------------------------------------------------------------------- */
|
|
|
|
/* Integration hooks ------------------------------------------------------- */
|
|
PyTypeObject KX_ObjectActuator::Type = {
|
|
#if (PY_VERSION_HEX >= 0x02060000)
|
|
PyVarObject_HEAD_INIT(NULL, 0)
|
|
#else
|
|
/* python 2.5 and below */
|
|
PyObject_HEAD_INIT( NULL ) /* required py macro */
|
|
0, /* ob_size */
|
|
#endif
|
|
"KX_ObjectActuator",
|
|
sizeof(PyObjectPlus_Proxy),
|
|
0,
|
|
py_base_dealloc,
|
|
0,
|
|
0,
|
|
0,
|
|
0,
|
|
py_base_repr,
|
|
0,0,0,0,0,0,
|
|
NULL, //py_base_getattro,
|
|
NULL, //py_base_setattro,
|
|
0,
|
|
Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
|
|
0,0,0,0,0,0,0,
|
|
Methods,
|
|
0,
|
|
0,
|
|
&SCA_IActuator::Type
|
|
};
|
|
|
|
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},
|
|
{"setTorque", (PyCFunction) KX_ObjectActuator::sPySetTorque, METH_VARARGS},
|
|
{"getDLoc", (PyCFunction) KX_ObjectActuator::sPyGetDLoc, METH_NOARGS},
|
|
{"setDLoc", (PyCFunction) KX_ObjectActuator::sPySetDLoc, METH_VARARGS},
|
|
{"getDRot", (PyCFunction) KX_ObjectActuator::sPyGetDRot, METH_NOARGS},
|
|
{"setDRot", (PyCFunction) KX_ObjectActuator::sPySetDRot, METH_VARARGS},
|
|
{"getLinearVelocity", (PyCFunction) KX_ObjectActuator::sPyGetLinearVelocity, METH_NOARGS},
|
|
{"setLinearVelocity", (PyCFunction) KX_ObjectActuator::sPySetLinearVelocity, METH_VARARGS},
|
|
{"getAngularVelocity", (PyCFunction) KX_ObjectActuator::sPyGetAngularVelocity, METH_NOARGS},
|
|
{"setAngularVelocity", (PyCFunction) KX_ObjectActuator::sPySetAngularVelocity, METH_VARARGS},
|
|
{"setDamping", (PyCFunction) KX_ObjectActuator::sPySetDamping, METH_VARARGS},
|
|
{"getDamping", (PyCFunction) KX_ObjectActuator::sPyGetDamping, METH_NOARGS},
|
|
{"setForceLimitX", (PyCFunction) KX_ObjectActuator::sPySetForceLimitX, METH_VARARGS},
|
|
{"getForceLimitX", (PyCFunction) KX_ObjectActuator::sPyGetForceLimitX, METH_NOARGS},
|
|
{"setForceLimitY", (PyCFunction) KX_ObjectActuator::sPySetForceLimitY, METH_VARARGS},
|
|
{"getForceLimitY", (PyCFunction) KX_ObjectActuator::sPyGetForceLimitY, METH_NOARGS},
|
|
{"setForceLimitZ", (PyCFunction) KX_ObjectActuator::sPySetForceLimitZ, METH_VARARGS},
|
|
{"getForceLimitZ", (PyCFunction) KX_ObjectActuator::sPyGetForceLimitZ, METH_NOARGS},
|
|
{"setPID", (PyCFunction) KX_ObjectActuator::sPyGetPID, METH_NOARGS},
|
|
{"getPID", (PyCFunction) KX_ObjectActuator::sPySetPID, METH_VARARGS},
|
|
|
|
// <----- Deprecated
|
|
|
|
{NULL,NULL} //Sentinel
|
|
};
|
|
|
|
PyAttributeDef KX_ObjectActuator::Attributes[] = {
|
|
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),
|
|
#ifdef USE_MATHUTILS
|
|
KX_PYATTRIBUTE_RW_FUNCTION("linV", KX_ObjectActuator, pyattr_get_linV, pyattr_set_linV),
|
|
KX_PYATTRIBUTE_RW_FUNCTION("angV", KX_ObjectActuator, pyattr_get_angV, pyattr_set_angV),
|
|
#else
|
|
KX_PYATTRIBUTE_VECTOR_RW_CHECK("linV", -1000, 1000, false, KX_ObjectActuator, m_linear_velocity, PyUpdateFuzzyFlags),
|
|
KX_PYATTRIBUTE_VECTOR_RW_CHECK("angV", -1000, 1000, false, KX_ObjectActuator, m_angular_velocity, PyUpdateFuzzyFlags),
|
|
#endif
|
|
KX_PYATTRIBUTE_BOOL_RW("useLocalLinV", KX_ObjectActuator, m_bitLocalFlag.LinearVelocity),
|
|
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),
|
|
KX_PYATTRIBUTE_RW_FUNCTION("reference", KX_ObjectActuator,pyattr_get_reference,pyattr_set_reference),
|
|
{ NULL } //Sentinel
|
|
};
|
|
|
|
/* Attribute get/set functions */
|
|
|
|
#ifdef USE_MATHUTILS
|
|
|
|
/* These require an SGNode */
|
|
#define MATHUTILS_VEC_CB_LINV 1
|
|
#define MATHUTILS_VEC_CB_ANGV 2
|
|
|
|
static int mathutils_kxobactu_vector_cb_index= -1; /* index for our callbacks */
|
|
|
|
static int mathutils_obactu_generic_check(PyObject *self_v)
|
|
{
|
|
KX_ObjectActuator* self= static_cast<KX_ObjectActuator*>BGE_PROXY_REF(self_v);
|
|
if(self==NULL)
|
|
return 0;
|
|
|
|
return 1;
|
|
}
|
|
|
|
static int mathutils_obactu_vector_get(PyObject *self_v, int subtype, float *vec_from)
|
|
{
|
|
KX_ObjectActuator* self= static_cast<KX_ObjectActuator*>BGE_PROXY_REF(self_v);
|
|
if(self==NULL)
|
|
return 0;
|
|
|
|
switch(subtype) {
|
|
case MATHUTILS_VEC_CB_LINV:
|
|
self->m_linear_velocity.getValue(vec_from);
|
|
break;
|
|
case MATHUTILS_VEC_CB_ANGV:
|
|
self->m_angular_velocity.getValue(vec_from);
|
|
break;
|
|
}
|
|
|
|
return 1;
|
|
}
|
|
|
|
static int mathutils_obactu_vector_set(PyObject *self_v, int subtype, float *vec_to)
|
|
{
|
|
KX_ObjectActuator* self= static_cast<KX_ObjectActuator*>BGE_PROXY_REF(self_v);
|
|
if(self==NULL)
|
|
return 0;
|
|
|
|
switch(subtype) {
|
|
case MATHUTILS_VEC_CB_LINV:
|
|
self->m_linear_velocity.setValue(vec_to);
|
|
break;
|
|
case MATHUTILS_VEC_CB_ANGV:
|
|
self->m_angular_velocity.setValue(vec_to);
|
|
break;
|
|
}
|
|
|
|
return 1;
|
|
}
|
|
|
|
static int mathutils_obactu_vector_get_index(PyObject *self_v, int subtype, float *vec_from, int index)
|
|
{
|
|
float f[4];
|
|
/* lazy, avoid repeteing the case statement */
|
|
if(!mathutils_obactu_vector_get(self_v, subtype, f))
|
|
return 0;
|
|
|
|
vec_from[index]= f[index];
|
|
return 1;
|
|
}
|
|
|
|
static int mathutils_obactu_vector_set_index(PyObject *self_v, int subtype, float *vec_to, int index)
|
|
{
|
|
float f= vec_to[index];
|
|
|
|
/* lazy, avoid repeteing the case statement */
|
|
if(!mathutils_obactu_vector_get(self_v, subtype, vec_to))
|
|
return 0;
|
|
|
|
vec_to[index]= f;
|
|
mathutils_obactu_vector_set(self_v, subtype, vec_to);
|
|
|
|
return 1;
|
|
}
|
|
|
|
Mathutils_Callback mathutils_obactu_vector_cb = {
|
|
mathutils_obactu_generic_check,
|
|
mathutils_obactu_vector_get,
|
|
mathutils_obactu_vector_set,
|
|
mathutils_obactu_vector_get_index,
|
|
mathutils_obactu_vector_set_index
|
|
};
|
|
|
|
PyObject* KX_ObjectActuator::pyattr_get_linV(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
|
|
{
|
|
return newVectorObject_cb((PyObject *)self_v, 3, mathutils_kxobactu_vector_cb_index, MATHUTILS_VEC_CB_LINV);
|
|
}
|
|
|
|
int KX_ObjectActuator::pyattr_set_linV(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
|
|
{
|
|
KX_ObjectActuator* self= static_cast<KX_ObjectActuator*>(self_v);
|
|
if (!PyVecTo(value, self->m_linear_velocity))
|
|
return PY_SET_ATTR_FAIL;
|
|
|
|
return PY_SET_ATTR_SUCCESS;
|
|
}
|
|
|
|
PyObject* KX_ObjectActuator::pyattr_get_angV(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
|
|
{
|
|
return newVectorObject_cb((PyObject *)self_v, 3, mathutils_kxobactu_vector_cb_index, MATHUTILS_VEC_CB_ANGV);
|
|
}
|
|
|
|
int KX_ObjectActuator::pyattr_set_angV(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
|
|
{
|
|
KX_ObjectActuator* self= static_cast<KX_ObjectActuator*>(self_v);
|
|
if (!PyVecTo(value, self->m_angular_velocity))
|
|
return PY_SET_ATTR_FAIL;
|
|
|
|
return PY_SET_ATTR_SUCCESS;
|
|
}
|
|
|
|
|
|
void KX_ObjectActuator_Mathutils_Callback_Init(void)
|
|
{
|
|
// register mathutils callbacks, ok to run more then once.
|
|
mathutils_kxobactu_vector_cb_index= Mathutils_RegisterCallback(&mathutils_obactu_vector_cb);
|
|
}
|
|
|
|
#endif // USE_MATHUTILS
|
|
|
|
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;
|
|
}
|
|
|
|
PyObject* KX_ObjectActuator::pyattr_get_reference(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
|
|
{
|
|
KX_ObjectActuator* actuator = static_cast<KX_ObjectActuator*>(self);
|
|
if (!actuator->m_reference)
|
|
Py_RETURN_NONE;
|
|
|
|
return actuator->m_reference->GetProxy();
|
|
}
|
|
|
|
int KX_ObjectActuator::pyattr_set_reference(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
|
|
{
|
|
KX_ObjectActuator* actuator = static_cast<KX_ObjectActuator*>(self);
|
|
KX_GameObject *refOb;
|
|
|
|
if (!ConvertPythonToGameObject(value, &refOb, true, "actu.reference = value: KX_ObjectActuator"))
|
|
return PY_SET_ATTR_FAIL;
|
|
|
|
if (actuator->m_reference)
|
|
actuator->m_reference->UnregisterActuator(actuator);
|
|
|
|
if(refOb==NULL) {
|
|
actuator->m_reference= NULL;
|
|
}
|
|
else {
|
|
actuator->m_reference = refOb;
|
|
actuator->m_reference->RegisterActuator(actuator);
|
|
}
|
|
|
|
return PY_SET_ATTR_SUCCESS;
|
|
}
|
|
|
|
|
|
/* 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]));
|
|
PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_force[1]));
|
|
PyList_SET_ITEM(retVal, 2, PyFloat_FromDouble(m_force[2]));
|
|
PyList_SET_ITEM(retVal, 3, BoolToPyArg(m_bitLocalFlag.Force));
|
|
|
|
return retVal;
|
|
}
|
|
/* 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],
|
|
&vecArg[2], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_force.setValue(vecArg);
|
|
m_bitLocalFlag.Force = PyArgToBool(bToggle);
|
|
UpdateFuzzyFlags();
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 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]));
|
|
PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_torque[1]));
|
|
PyList_SET_ITEM(retVal, 2, PyFloat_FromDouble(m_torque[2]));
|
|
PyList_SET_ITEM(retVal, 3, BoolToPyArg(m_bitLocalFlag.Torque));
|
|
|
|
return retVal;
|
|
}
|
|
/* 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],
|
|
&vecArg[2], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_torque.setValue(vecArg);
|
|
m_bitLocalFlag.Torque = PyArgToBool(bToggle);
|
|
UpdateFuzzyFlags();
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 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]));
|
|
PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_dloc[1]));
|
|
PyList_SET_ITEM(retVal, 2, PyFloat_FromDouble(m_dloc[2]));
|
|
PyList_SET_ITEM(retVal, 3, BoolToPyArg(m_bitLocalFlag.DLoc));
|
|
|
|
return retVal;
|
|
}
|
|
/* 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],
|
|
&vecArg[2], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_dloc.setValue(vecArg);
|
|
m_bitLocalFlag.DLoc = PyArgToBool(bToggle);
|
|
UpdateFuzzyFlags();
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 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]));
|
|
PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_drot[1]));
|
|
PyList_SET_ITEM(retVal, 2, PyFloat_FromDouble(m_drot[2]));
|
|
PyList_SET_ITEM(retVal, 3, BoolToPyArg(m_bitLocalFlag.DRot));
|
|
|
|
return retVal;
|
|
}
|
|
/* 9. setDRot */
|
|
PyObject* KX_ObjectActuator::PySetDRot(PyObject* args)
|
|
{
|
|
ShowDeprecationWarning("setDRot()", "the dRot and the useLocalDRot properties");
|
|
float vecArg[3];
|
|
int bToggle = 0;
|
|
if (!PyArg_ParseTuple(args, "fffi:setDRot", &vecArg[0], &vecArg[1],
|
|
&vecArg[2], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_drot.setValue(vecArg);
|
|
m_bitLocalFlag.DRot = PyArgToBool(bToggle);
|
|
UpdateFuzzyFlags();
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 10. getLinearVelocity */
|
|
PyObject* KX_ObjectActuator::PyGetLinearVelocity() {
|
|
ShowDeprecationWarning("getLinearVelocity()", "the linV and the useLocalLinV properties");
|
|
PyObject *retVal = PyList_New(4);
|
|
|
|
PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_linear_velocity[0]));
|
|
PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_linear_velocity[1]));
|
|
PyList_SET_ITEM(retVal, 2, PyFloat_FromDouble(m_linear_velocity[2]));
|
|
PyList_SET_ITEM(retVal, 3, BoolToPyArg(m_bitLocalFlag.LinearVelocity));
|
|
|
|
return retVal;
|
|
}
|
|
|
|
/* 11. setLinearVelocity */
|
|
PyObject* KX_ObjectActuator::PySetLinearVelocity(PyObject* args) {
|
|
ShowDeprecationWarning("setLinearVelocity()", "the linV and the useLocalLinV properties");
|
|
float vecArg[3];
|
|
int bToggle = 0;
|
|
if (!PyArg_ParseTuple(args, "fffi:setLinearVelocity", &vecArg[0], &vecArg[1],
|
|
&vecArg[2], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_linear_velocity.setValue(vecArg);
|
|
m_bitLocalFlag.LinearVelocity = PyArgToBool(bToggle);
|
|
UpdateFuzzyFlags();
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
|
|
/* 12. getAngularVelocity */
|
|
PyObject* KX_ObjectActuator::PyGetAngularVelocity() {
|
|
ShowDeprecationWarning("getAngularVelocity()", "the angV and the useLocalAngV properties");
|
|
PyObject *retVal = PyList_New(4);
|
|
|
|
PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_angular_velocity[0]));
|
|
PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_angular_velocity[1]));
|
|
PyList_SET_ITEM(retVal, 2, PyFloat_FromDouble(m_angular_velocity[2]));
|
|
PyList_SET_ITEM(retVal, 3, BoolToPyArg(m_bitLocalFlag.AngularVelocity));
|
|
|
|
return retVal;
|
|
}
|
|
/* 13. setAngularVelocity */
|
|
PyObject* KX_ObjectActuator::PySetAngularVelocity(PyObject* args) {
|
|
ShowDeprecationWarning("setAngularVelocity()", "the angV and the useLocalAngV properties");
|
|
float vecArg[3];
|
|
int bToggle = 0;
|
|
if (!PyArg_ParseTuple(args, "fffi:setAngularVelocity", &vecArg[0], &vecArg[1],
|
|
&vecArg[2], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_angular_velocity.setValue(vecArg);
|
|
m_bitLocalFlag.AngularVelocity = PyArgToBool(bToggle);
|
|
UpdateFuzzyFlags();
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 13. setDamping */
|
|
PyObject* KX_ObjectActuator::PySetDamping(PyObject* args) {
|
|
ShowDeprecationWarning("setDamping()", "the damping property");
|
|
int damping = 0;
|
|
if (!PyArg_ParseTuple(args, "i:setDamping", &damping) || damping < 0 || damping > 1000) {
|
|
return NULL;
|
|
}
|
|
m_damping = damping;
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 13. getVelocityDamping */
|
|
PyObject* KX_ObjectActuator::PyGetDamping() {
|
|
ShowDeprecationWarning("getDamping()", "the damping property");
|
|
return Py_BuildValue("i",m_damping);
|
|
}
|
|
/* 6. getForceLimitX */
|
|
PyObject* KX_ObjectActuator::PyGetForceLimitX()
|
|
{
|
|
ShowDeprecationWarning("getForceLimitX()", "the forceLimitX property");
|
|
PyObject *retVal = PyList_New(3);
|
|
|
|
PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_drot[0]));
|
|
PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_dloc[0]));
|
|
PyList_SET_ITEM(retVal, 2, BoolToPyArg(m_bitLocalFlag.Torque));
|
|
|
|
return retVal;
|
|
}
|
|
/* 7. setForceLimitX */
|
|
PyObject* KX_ObjectActuator::PySetForceLimitX(PyObject* args)
|
|
{
|
|
ShowDeprecationWarning("setForceLimitX()", "the forceLimitX property");
|
|
float vecArg[2];
|
|
int bToggle = 0;
|
|
if(!PyArg_ParseTuple(args, "ffi:setForceLimitX", &vecArg[0], &vecArg[1], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_drot[0] = vecArg[0];
|
|
m_dloc[0] = vecArg[1];
|
|
m_bitLocalFlag.Torque = PyArgToBool(bToggle);
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 6. getForceLimitY */
|
|
PyObject* KX_ObjectActuator::PyGetForceLimitY()
|
|
{
|
|
ShowDeprecationWarning("getForceLimitY()", "the forceLimitY property");
|
|
PyObject *retVal = PyList_New(3);
|
|
|
|
PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_drot[1]));
|
|
PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_dloc[1]));
|
|
PyList_SET_ITEM(retVal, 2, BoolToPyArg(m_bitLocalFlag.DLoc));
|
|
|
|
return retVal;
|
|
}
|
|
/* 7. setForceLimitY */
|
|
PyObject* KX_ObjectActuator::PySetForceLimitY(PyObject* args)
|
|
{
|
|
ShowDeprecationWarning("setForceLimitY()", "the forceLimitY property");
|
|
float vecArg[2];
|
|
int bToggle = 0;
|
|
if(!PyArg_ParseTuple(args, "ffi:setForceLimitY", &vecArg[0], &vecArg[1], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_drot[1] = vecArg[0];
|
|
m_dloc[1] = vecArg[1];
|
|
m_bitLocalFlag.DLoc = PyArgToBool(bToggle);
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 6. getForceLimitZ */
|
|
PyObject* KX_ObjectActuator::PyGetForceLimitZ()
|
|
{
|
|
ShowDeprecationWarning("getForceLimitZ()", "the forceLimitZ property");
|
|
PyObject *retVal = PyList_New(3);
|
|
|
|
PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_drot[2]));
|
|
PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_dloc[2]));
|
|
PyList_SET_ITEM(retVal, 2, BoolToPyArg(m_bitLocalFlag.DRot));
|
|
|
|
return retVal;
|
|
}
|
|
/* 7. setForceLimitZ */
|
|
PyObject* KX_ObjectActuator::PySetForceLimitZ(PyObject* args)
|
|
{
|
|
ShowDeprecationWarning("setForceLimitZ()", "the forceLimitZ property");
|
|
float vecArg[2];
|
|
int bToggle = 0;
|
|
if(!PyArg_ParseTuple(args, "ffi:setForceLimitZ", &vecArg[0], &vecArg[1], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_drot[2] = vecArg[0];
|
|
m_dloc[2] = vecArg[1];
|
|
m_bitLocalFlag.DRot = PyArgToBool(bToggle);
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 4. getPID */
|
|
PyObject* KX_ObjectActuator::PyGetPID()
|
|
{
|
|
ShowDeprecationWarning("getPID()", "the pid property");
|
|
PyObject *retVal = PyList_New(3);
|
|
|
|
PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_pid[0]));
|
|
PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_pid[1]));
|
|
PyList_SET_ITEM(retVal, 2, PyFloat_FromDouble(m_pid[2]));
|
|
|
|
return retVal;
|
|
}
|
|
/* 5. setPID */
|
|
PyObject* KX_ObjectActuator::PySetPID(PyObject* args)
|
|
{
|
|
ShowDeprecationWarning("setPID()", "the pid property");
|
|
float vecArg[3];
|
|
if (!PyArg_ParseTuple(args, "fff:setPID", &vecArg[0], &vecArg[1], &vecArg[2])) {
|
|
return NULL;
|
|
}
|
|
m_pid.setValue(vecArg);
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/* eof */
|