Revision: 20252
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=20252
Author: ben2610
Date: 2009-05-18 10:22:51 +0200 (Mon, 18 May 2009)
Log Message:
-----------
BGE #18665: Servo control and relative motion
Servo control motion actuator did not work as expected when the object
is moving on a moving platform.
This patch introduces a new Ref field in the servo motion actuator
to set a reference object for the velocity calculation.
You can set the object during the game using the actuator "reference"
attribute; use an object name or an object reference.
The servo controller takes into account the angular velocity of the
reference object to compute the relative local velocity.
Modified Paths:
--------------
trunk/blender/source/blender/blenkernel/intern/sca.c
trunk/blender/source/blender/blenloader/intern/readfile.c
trunk/blender/source/blender/makesdna/DNA_actuator_types.h
trunk/blender/source/blender/src/buttons_logic.c
trunk/blender/source/gameengine/Converter/KX_ConvertActuators.cpp
trunk/blender/source/gameengine/Ketsji/KX_ObjectActuator.cpp
trunk/blender/source/gameengine/Ketsji/KX_ObjectActuator.h
Modified: trunk/blender/source/blender/blenkernel/intern/sca.c
===================================================================
--- trunk/blender/source/blender/blenkernel/intern/sca.c 2009-05-18
07:53:13 UTC (rev 20251)
+++ trunk/blender/source/blender/blenkernel/intern/sca.c 2009-05-18
08:22:51 UTC (rev 20252)
@@ -579,6 +579,10 @@
bCameraActuator *ca= act->data;
ID_NEW(ca->ob);
}
+ else if(act->type==ACT_OBJECT) {
+ bObjectActuator *oa= act->data;
+ ID_NEW(oa->reference);
+ }
else if(act->type==ACT_SCENE) {
bSceneActuator *sca= act->data;
ID_NEW(sca->camera);
@@ -606,6 +610,7 @@
bMessageSensor *ms;
bActuator *act;
bCameraActuator *ca;
+ bObjectActuator *oa;
bSceneActuator *sa;
bEditObjectActuator *eoa;
bPropertyActuator *pa;
@@ -628,6 +633,10 @@
ca= act->data;
if(ca->ob==ob) ca->ob= NULL;
break;
+ case ACT_OBJECT:
+ oa= act->data;
+ if(oa->reference==ob) oa->reference= NULL;
+ break;
case ACT_PROPERTY:
pa= act->data;
if(pa->ob==ob) pa->ob= NULL;
Modified: trunk/blender/source/blender/blenloader/intern/readfile.c
===================================================================
--- trunk/blender/source/blender/blenloader/intern/readfile.c 2009-05-18
07:53:13 UTC (rev 20251)
+++ trunk/blender/source/blender/blenloader/intern/readfile.c 2009-05-18
08:22:51 UTC (rev 20252)
@@ -3077,6 +3077,10 @@
bAddObjectActuator *eoa= act->data;
if(eoa) eoa->ob= newlibadr(fd,
ob->id.lib, eoa->ob);
}
+ else if(act->type==ACT_OBJECT) {
+ bObjectActuator *oa= act->data;
+ oa->reference= newlibadr(fd,
ob->id.lib, oa->reference);
+ }
else if(act->type==ACT_EDIT_OBJECT) {
bEditObjectActuator *eoa= act->data;
if(eoa==NULL) {
@@ -3087,6 +3091,15 @@
eoa->me= newlibadr(fd,
ob->id.lib, eoa->me);
}
}
+ else if(act->type==ACT_OBJECT) {
+ bObjectActuator *oa= act->data;
+ if(oa==NULL) {
+ init_actuator(act);
+ }
+ else {
+ oa->reference= newlibadr(fd,
ob->id.lib, oa->reference);
+ }
+ }
else if(act->type==ACT_SCENE) {
bSceneActuator *sa= act->data;
sa->camera= newlibadr(fd, ob->id.lib,
sa->camera);
@@ -8862,6 +8875,10 @@
expand_doit(fd, mainvar, eoa->me);
}
}
+ else if(act->type==ACT_OBJECT) {
+ bObjectActuator *oa= act->data;
+ expand_doit(fd, mainvar, oa->reference);
+ }
else if(act->type==ACT_SCENE) {
bSceneActuator *sa= act->data;
expand_doit(fd, mainvar, sa->camera);
Modified: trunk/blender/source/blender/makesdna/DNA_actuator_types.h
===================================================================
--- trunk/blender/source/blender/makesdna/DNA_actuator_types.h 2009-05-18
07:53:13 UTC (rev 20251)
+++ trunk/blender/source/blender/makesdna/DNA_actuator_types.h 2009-05-18
08:22:51 UTC (rev 20252)
@@ -107,6 +107,7 @@
float loc[3], rot[3];
float dloc[3], drot[3];
float linearvelocity[3], angularvelocity[3];
+ struct Object *reference;
} bObjectActuator;
typedef struct bIpoActuator {
Modified: trunk/blender/source/blender/src/buttons_logic.c
===================================================================
--- trunk/blender/source/blender/src/buttons_logic.c 2009-05-18 07:53:13 UTC
(rev 20251)
+++ trunk/blender/source/blender/src/buttons_logic.c 2009-05-18 08:22:51 UTC
(rev 20252)
@@ -1830,42 +1830,44 @@
}
} else if (oa->type == ACT_OBJECT_SERVO)
{
- ysize= 172;
+ ysize= 195;
glRects(xco, yco-ysize, xco+width, yco);
uiEmboss((float)xco, (float)yco-ysize,
(float)xco+width, (float)yco, 1);
- uiDefBut(block, LABEL, 0, "linV", xco,
yco-45, 45, 19, NULL, 0, 0, 0, 0, "Sets the target linear velocity, it will be
achieve by automatic application of force. Null velocity is a valid target");
- uiDefButF(block, NUM, 0, "", xco+45,
yco-45, wval, 19, oa->linearvelocity, -10000.0, 10000.0, 10, 0, "");
- uiDefButF(block, NUM, 0, "",
xco+45+wval, yco-45, wval, 19, oa->linearvelocity+1, -10000.0, 10000.0, 10, 0,
"");
- uiDefButF(block, NUM, 0, "",
xco+45+2*wval, yco-45, wval, 19, oa->linearvelocity+2, -10000.0, 10000.0, 10,
0, "");
- uiDefButBitS(block, TOG, ACT_LIN_VEL_LOCAL, 0,
"L", xco+45+3*wval, yco-45, 15, 19, &oa->flag, 0.0, 0.0, 0, 0,
"Velocity is defined in local coordinates");
+ uiDefBut(block, LABEL, 0, "Ref", xco,
yco-45, 45, 19, NULL, 0, 0, 0, 0, "");
+ uiDefIDPoinBut(block, test_obpoin_but, ID_OB,
1, "OB:", xco+45, yco-45, wval*3, 19, &(oa->reference), "Reference
object for velocity calculation, leave empty for world reference");
+ uiDefBut(block, LABEL, 0, "linV", xco,
yco-68, 45, 19, NULL, 0, 0, 0, 0, "Sets the target relative linear velocity, it
will be achieve by automatic application of force. Null velocity is a valid
target");
+ uiDefButF(block, NUM, 0, "", xco+45,
yco-68, wval, 19, oa->linearvelocity, -10000.0, 10000.0, 10, 0, "");
+ uiDefButF(block, NUM, 0, "",
xco+45+wval, yco-68, wval, 19, oa->linearvelocity+1, -10000.0, 10000.0, 10, 0,
"");
+ uiDefButF(block, NUM, 0, "",
xco+45+2*wval, yco-68, wval, 19, oa->linearvelocity+2, -10000.0, 10000.0, 10,
0, "");
+ uiDefButBitS(block, TOG, ACT_LIN_VEL_LOCAL, 0,
"L", xco+45+3*wval, yco-68, 15, 19, &oa->flag, 0.0, 0.0, 0, 0,
"Velocity is defined in local coordinates");
- uiDefBut(block, LABEL, 0, "Limit", xco,
yco-68, 45, 19, NULL, 0, 0, 0, 0, "Select if the force need to be limited along
certain axis (local or global depending on LinV Local flag)");
- uiDefButBitS(block, TOG, ACT_SERVO_LIMIT_X,
B_REDR, "X", xco+45, yco-68, wval, 19, &oa->flag, 0.0, 0.0, 0,
0, "Set limit to force along the X axis");
- uiDefButBitS(block, TOG, ACT_SERVO_LIMIT_Y,
B_REDR, "Y", xco+45+wval, yco-68, wval, 19, &oa->flag, 0.0, 0.0,
0, 0, "Set limit to force along the Y axis");
- uiDefButBitS(block, TOG, ACT_SERVO_LIMIT_Z,
B_REDR, "Z", xco+45+2*wval, yco-68, wval, 19, &oa->flag, 0.0,
0.0, 0, 0, "Set limit to force along the Z axis");
- uiDefBut(block, LABEL, 0, "Max", xco,
yco-87, 45, 19, NULL, 0, 0, 0, 0, "Set the upper limit for force");
- uiDefBut(block, LABEL, 0, "Min", xco,
yco-106, 45, 19, NULL, 0, 0, 0, 0, "Set the lower limit for force");
+ uiDefBut(block, LABEL, 0, "Limit", xco,
yco-91, 45, 19, NULL, 0, 0, 0, 0, "Select if the force need to be limited along
certain axis (local or global depending on LinV Local flag)");
+ uiDefButBitS(block, TOG, ACT_SERVO_LIMIT_X,
B_REDR, "X", xco+45, yco-91, wval, 19, &oa->flag, 0.0, 0.0, 0,
0, "Set limit to force along the X axis");
+ uiDefButBitS(block, TOG, ACT_SERVO_LIMIT_Y,
B_REDR, "Y", xco+45+wval, yco-91, wval, 19, &oa->flag, 0.0, 0.0,
0, 0, "Set limit to force along the Y axis");
+ uiDefButBitS(block, TOG, ACT_SERVO_LIMIT_Z,
B_REDR, "Z", xco+45+2*wval, yco-91, wval, 19, &oa->flag, 0.0,
0.0, 0, 0, "Set limit to force along the Z axis");
+ uiDefBut(block, LABEL, 0, "Max", xco,
yco-110, 45, 19, NULL, 0, 0, 0, 0, "Set the upper limit for force");
+ uiDefBut(block, LABEL, 0, "Min", xco,
yco-129, 45, 19, NULL, 0, 0, 0, 0, "Set the lower limit for force");
if (oa->flag & ACT_SERVO_LIMIT_X) {
- uiDefButF(block, NUM, 0, "",
xco+45, yco-87, wval, 19, oa->dloc, -10000.0, 10000.0, 10, 0, "");
- uiDefButF(block, NUM, 0, "",
xco+45, yco-106, wval, 19, oa->drot, -10000.0, 10000.0, 10, 0, "");
+ uiDefButF(block, NUM, 0, "",
xco+45, yco-110, wval, 19, oa->dloc, -10000.0, 10000.0, 10, 0, "");
+ uiDefButF(block, NUM, 0, "",
xco+45, yco-129, wval, 19, oa->drot, -10000.0, 10000.0, 10, 0, "");
}
if (oa->flag & ACT_SERVO_LIMIT_Y) {
- uiDefButF(block, NUM, 0, "",
xco+45+wval, yco-87, wval, 19, oa->dloc+1, -10000.0, 10000.0, 10, 0, "");
- uiDefButF(block, NUM, 0, "",
xco+45+wval, yco-106, wval, 19, oa->drot+1, -10000.0, 10000.0, 10, 0, "");
+ uiDefButF(block, NUM, 0, "",
xco+45+wval, yco-110, wval, 19, oa->dloc+1, -10000.0, 10000.0, 10, 0, "");
+ uiDefButF(block, NUM, 0, "",
xco+45+wval, yco-129, wval, 19, oa->drot+1, -10000.0, 10000.0, 10, 0, "");
}
if (oa->flag & ACT_SERVO_LIMIT_Z) {
- uiDefButF(block, NUM, 0, "",
xco+45+2*wval, yco-87, wval, 19, oa->dloc+2, -10000.0, 10000.0, 10, 0, "");
- uiDefButF(block, NUM, 0, "",
xco+45+2*wval, yco-106, wval, 19, oa->drot+2, -10000.0, 10000.0, 10, 0, "");
+ uiDefButF(block, NUM, 0, "",
xco+45+2*wval, yco-110, wval, 19, oa->dloc+2, -10000.0, 10000.0, 10, 0, "");
+ uiDefButF(block, NUM, 0, "",
xco+45+2*wval, yco-129, wval, 19, oa->drot+2, -10000.0, 10000.0, 10, 0, "");
}
- uiDefBut(block, LABEL, 0, "Servo", xco,
yco-129, 45, 19, NULL, 0, 0, 0, 0, "Coefficients of the PID servo controller");
- uiDefButF(block, NUMSLI, B_REDR, "P: ",
xco+45, yco-129, wval*3, 19, oa->forcerot, 0.00, 200.0, 100, 0, "Proportional
coefficient, typical value is 60x Integral coefficient");
- uiDefBut(block, LABEL, 0, "Slow", xco,
yco-148, 45, 19, NULL, 0, 0, 0, 0, "Low value of I coefficient correspond to
slow response");
- but = uiDefButF(block, NUMSLI, B_REDR, " I : ",
xco+45, yco-148, wval*3, 19, oa->forcerot+1, 0.0, 3.0, 1, 0, "Integral
coefficient, low value (0.01) for slow response, high value (0.5) for fast
response");
+ uiDefBut(block, LABEL, 0, "Servo", xco,
yco-152, 45, 19, NULL, 0, 0, 0, 0, "Coefficients of the PID servo controller");
+ uiDefButF(block, NUMSLI, B_REDR, "P: ",
xco+45, yco-152, wval*3, 19, oa->forcerot, 0.00, 200.0, 100, 0, "Proportional
coefficient, typical value is 60x Integral coefficient");
+ uiDefBut(block, LABEL, 0, "Slow", xco,
yco-152, 45, 19, NULL, 0, 0, 0, 0, "Low value of I coefficient correspond to
slow response");
+ but = uiDefButF(block, NUMSLI, B_REDR, " I : ",
xco+45, yco-171, wval*3, 19, oa->forcerot+1, 0.0, 3.0, 1, 0, "Integral
coefficient, low value (0.01) for slow response, high value (0.5) for fast
response");
uiButSetFunc(but, update_object_actuator_PID,
oa, NULL);
- uiDefBut(block, LABEL, 0, "Fast",
xco+45+3*wval, yco-148, 45, 19, NULL, 0, 0, 0, 0, "High value of I coefficient
correspond to fast response");
- uiDefButF(block, NUMSLI, B_REDR, "D: ",
xco+45, yco-167, wval*3, 19, oa->forcerot+2, -100.0, 100.0, 100, 0, "Derivate
coefficient, not required, high values can cause instability");
@@ Diff output truncated at 10240 characters. @@
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