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Differential D1074 Diff 3438 source/gameengine/Ketsji/KX_SteeringActuator.cpp

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source/gameengine/Ketsji/KX_SteeringActuator.cpp

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#include "KX_PythonInit.h" #include "KX_PythonInit.h"
#include "KX_PyMath.h" #include "KX_PyMath.h"
#include "Recast.h" #include "Recast.h"
/* ------------------------------------------------------------------------- */ /* ------------------------------------------------------------------------- */
/* Native functions */ /* Native functions */
/* ------------------------------------------------------------------------- */ /* ------------------------------------------------------------------------- */
KX_SteeringActuator::KX_SteeringActuator(SCA_IObject *gameobj, KX_SteeringActuator::KX_SteeringActuator(SCA_IObject *gameobj,
int mode, int mode,
KX_GameObject *target, KX_GameObject *target,
KX_GameObject *navmesh, KX_GameObject *navmesh,
float distance, float distance,
float velocity, float velocity,
float acceleration, float acceleration,
float turnspeed, float turnspeed,
bool isSelfTerminated, bool isSelfTerminated,
int pathUpdatePeriod, int pathUpdatePeriod,
KX_ObstacleSimulation* simulation, KX_ObstacleSimulation* simulation,
short facingmode, short facingmode,
bool normalup, bool normalup,
bool enableVisualization) bool enableVisualization,
bool lockzvel)
: SCA_IActuator(gameobj, KX_ACT_STEERING), : SCA_IActuator(gameobj, KX_ACT_STEERING),
m_target(target), m_target(target),
m_mode(mode), m_mode(mode),
m_distance(distance), m_distance(distance),
m_velocity(velocity), m_velocity(velocity),
m_acceleration(acceleration), m_acceleration(acceleration),
m_turnspeed(turnspeed), m_turnspeed(turnspeed),
m_simulation(simulation), m_simulation(simulation),
m_updateTime(0), m_updateTime(0),
m_obstacle(NULL), m_obstacle(NULL),
m_isActive(false), m_isActive(false),
m_isSelfTerminated(isSelfTerminated), m_isSelfTerminated(isSelfTerminated),
m_enableVisualization(enableVisualization), m_enableVisualization(enableVisualization),
m_facingMode(facingmode), m_facingMode(facingmode),
m_normalUp(normalup), m_normalUp(normalup),
m_pathLen(0), m_pathLen(0),
m_pathUpdatePeriod(pathUpdatePeriod), m_pathUpdatePeriod(pathUpdatePeriod),
m_lockzvel(lockzvel),
m_wayPointIdx(-1), m_wayPointIdx(-1),
m_steerVec(MT_Vector3(0, 0, 0)) m_steerVec(MT_Vector3(0, 0, 0))
{ {
m_navmesh = static_cast<KX_NavMeshObject*>(navmesh); m_navmesh = static_cast<KX_NavMeshObject*>(navmesh);
if (m_navmesh) if (m_navmesh)
m_navmesh->RegisterActuator(this); m_navmesh->RegisterActuator(this);
if (m_target) if (m_target)
m_target->RegisterActuator(this); m_target->RegisterActuator(this);
▲ Show 20 Lines • Show All 173 Lines • ▼ Show 20 Lines switch (m_mode) {
} }
} }
break; break;
} }
if (apply_steerforce) if (apply_steerforce)
{ {
MT_Vector3 newvel;
bool isdyna = obj->IsDynamic(); bool isdyna = obj->IsDynamic();
if (isdyna) if (isdyna)
m_steerVec.z() = 0; m_steerVec.z() = 0;
if (!m_steerVec.fuzzyZero()) if (!m_steerVec.fuzzyZero())
m_steerVec.normalize(); m_steerVec.normalize();
MT_Vector3 newvel = m_velocity*m_steerVec;
//adjust velocity to avoid obstacles //adjust velocity to avoid obstacles
if (m_simulation && m_obstacle /*&& !newvel.fuzzyZero()*/) if (m_simulation && m_obstacle /*&& !newvel.fuzzyZero()*/)
{ {
if (m_enableVisualization) if (m_enableVisualization)
KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(1.0, 0.0, 0.0)); KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(1.0, 0.0, 0.0));
m_simulation->AdjustObstacleVelocity(m_obstacle, m_mode!=KX_STEERING_PATHFOLLOWING ? m_navmesh : NULL, m_simulation->AdjustObstacleVelocity(m_obstacle, m_mode!=KX_STEERING_PATHFOLLOWING ? m_navmesh : NULL,
newvel, m_acceleration*delta, m_turnspeed/180.0f*M_PI*delta); newvel, m_acceleration*delta, m_turnspeed/180.0f*M_PI*delta);
if (m_enableVisualization) if (m_enableVisualization)
KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(0.0, 1.0, 0.0)); KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(0.0, 1.0, 0.0));
} }
HandleActorFace(newvel); HandleActorFace(newvel);
if (isdyna) if (isdyna)
{ {
//temporary solution: set 2D steering velocity directly to obj //TODO: Take into account angular velocity on turns
//correct way is to apply physical force
MT_Vector3 curvel = obj->GetLinearVelocity(); MT_Vector3 curvel = obj->GetLinearVelocity();
newvel = (curvel.length() * m_steerVec) + (m_acceleration * delta) * m_steerVec;
if (newvel.length2() >= (m_velocity * m_velocity))
newvel = m_velocity * m_steerVec;
if (m_lockzvel)
newvel.z() = 0.0f;
else
newvel.z() = curvel.z(); newvel.z() = curvel.z();
obj->setLinearVelocity(newvel, false); obj->setLinearVelocity(newvel, false);
} }
else else
{ {
MT_Vector3 movement = delta*newvel; MT_Vector3 movement = delta*newvel;
obj->ApplyMovement(movement, false); obj->ApplyMovement(movement, false);
} }
} }
▲ Show 20 Lines • Show All 252 Lines • ▼ Show 20 LinesPyAttributeDef KX_SteeringActuator::Attributes[] = {
KX_PYATTRIBUTE_FLOAT_RW("velocity", 0.0f, 1000.0f, KX_SteeringActuator, m_velocity), KX_PYATTRIBUTE_FLOAT_RW("velocity", 0.0f, 1000.0f, KX_SteeringActuator, m_velocity),
KX_PYATTRIBUTE_FLOAT_RW("acceleration", 0.0f, 1000.0f, KX_SteeringActuator, m_acceleration), KX_PYATTRIBUTE_FLOAT_RW("acceleration", 0.0f, 1000.0f, KX_SteeringActuator, m_acceleration),
KX_PYATTRIBUTE_FLOAT_RW("turnspeed", 0.0f, 720.0f, KX_SteeringActuator, m_turnspeed), KX_PYATTRIBUTE_FLOAT_RW("turnspeed", 0.0f, 720.0f, KX_SteeringActuator, m_turnspeed),
KX_PYATTRIBUTE_BOOL_RW("selfterminated", KX_SteeringActuator, m_isSelfTerminated), KX_PYATTRIBUTE_BOOL_RW("selfterminated", KX_SteeringActuator, m_isSelfTerminated),
KX_PYATTRIBUTE_BOOL_RW("enableVisualization", KX_SteeringActuator, m_enableVisualization), KX_PYATTRIBUTE_BOOL_RW("enableVisualization", KX_SteeringActuator, m_enableVisualization),
KX_PYATTRIBUTE_RO_FUNCTION("steeringVec", KX_SteeringActuator, pyattr_get_steeringVec), KX_PYATTRIBUTE_RO_FUNCTION("steeringVec", KX_SteeringActuator, pyattr_get_steeringVec),
KX_PYATTRIBUTE_SHORT_RW("facingMode", 0, 6, true, KX_SteeringActuator, m_facingMode), KX_PYATTRIBUTE_SHORT_RW("facingMode", 0, 6, true, KX_SteeringActuator, m_facingMode),
KX_PYATTRIBUTE_INT_RW("pathUpdatePeriod", -1, 100000, true, KX_SteeringActuator, m_pathUpdatePeriod), KX_PYATTRIBUTE_INT_RW("pathUpdatePeriod", -1, 100000, true, KX_SteeringActuator, m_pathUpdatePeriod),
KX_PYATTRIBUTE_BOOL_RW("lockZVelocity", KX_SteeringActuator, m_lockzvel),
{ NULL } //Sentinel { NULL } //Sentinel
}; };
PyObject *KX_SteeringActuator::pyattr_get_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef) PyObject *KX_SteeringActuator::pyattr_get_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
{ {
KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self); KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
if (!actuator->m_target) if (!actuator->m_target)
Py_RETURN_NONE; Py_RETURN_NONE;
▲ Show 20 Lines • Show All 68 Lines • Show Last 20 Lines