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, KX_ACT_OBJECT),
m_force(force),
m_torque(torque),
m_dloc(dloc),
m_drot(drot),
m_linear_velocity(linV),
m_angular_velocity(angV),
m_linear_length2(0.0f),
m_current_linear_factor(0.0f),
m_current_angular_factor(0.0f),
m_damping(damping),
m_previous_error(0.0f,0.0f,0.0f),
m_error_accumulator(0.0f,0.0f,0.0f),
m_bitLocalFlag (flag),
m_reference(refobj),
m_active_combined_velocity (false),
m_linear_damping_active(false),
m_angular_damping_active(false),
m_jumping(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_bitLocalFlag.CharacterMotion)
{
KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent());
PHY_ICharacter *character = parent->GetScene()->GetPhysicsEnvironment()->GetCharacterController(parent);
if (!character)
{
printf("Character motion enabled on non-character object (%s), falling back to simple motion.\n", parent->GetName().Ptr());
m_bitLocalFlag.CharacterMotion = false;
}
}
if (m_reference)
m_reference->RegisterActuator(this);
UpdateFuzzyFlags();
}
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, KX_ACT_OBJECT),
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();
}
