KX_SteeringActuator.h

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/*
 * Add steering behaviors
 *
 * ***** 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The Original Code is: all of this file.
 *
 * Contributor(s): none yet.
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#ifndef __KX_STEERINGACTUATOR
#define __KX_STEERINGACTUATOR

#include "SCA_IActuator.h"
#include "SCA_LogicManager.h"
#include "MT_Matrix3x3.h"

class KX_GameObject;
class KX_NavMeshObject;
struct KX_Obstacle;
class KX_ObstacleSimulation;
const int MAX_PATH_LENGTH  = 128;

class KX_SteeringActuator : public SCA_IActuator
{
    Py_Header

    KX_GameObject *m_target;
    KX_NavMeshObject *m_navmesh;
    int m_mode;
    float m_distance;
    float m_velocity;
    float m_acceleration;
    float m_turnspeed;
    KX_ObstacleSimulation* m_simulation;
    
    double m_updateTime;
    KX_Obstacle* m_obstacle;
    bool m_isActive;
    bool m_isSelfTerminated;
    bool m_enableVisualization;
    short m_facingMode;
    bool m_normalUp;
    float m_path[MAX_PATH_LENGTH*3];
    int m_pathLen;
    int m_pathUpdatePeriod;
    double m_pathUpdateTime;
    int m_wayPointIdx;
    MT_Matrix3x3 m_parentlocalmat;
    MT_Vector3 m_steerVec;
    void HandleActorFace(MT_Vector3& velocity);
public:
    enum KX_STEERINGACT_MODE
    {
        KX_STEERING_NODEF = 0,
        KX_STEERING_SEEK,
        KX_STEERING_FLEE,
        KX_STEERING_PATHFOLLOWING,
        KX_STEERING_MAX
    };

    KX_SteeringActuator(class SCA_IObject* gameobj,
                        int mode,
                        KX_GameObject *target, 
                        KX_GameObject *navmesh,
                        float distance,
                        float velocity, 
                        float acceleration,                                 
                        float turnspeed,
                        bool  isSelfTerminated,
                        int pathUpdatePeriod,
                        KX_ObstacleSimulation* simulation,
                        short facingmode,
                        bool normalup,
                        bool enableVisualization);
    virtual ~KX_SteeringActuator();
    virtual bool Update(double curtime, bool frame);

    virtual CValue* GetReplica();
    virtual void ProcessReplica();
    virtual void Relink(CTR_Map<CTR_HashedPtr, void*> *obj_map);
    virtual bool UnlinkObject(SCA_IObject* clientobj);
    const MT_Vector3& GetSteeringVec();

#ifndef DISABLE_PYTHON

    /* --------------------------------------------------------------------- */
    /* Python interface ---------------------------------------------------- */
    /* --------------------------------------------------------------------- */

    /* These are used to get and set m_target */
    static PyObject* pyattr_get_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
    static int pyattr_set_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
    static PyObject* pyattr_get_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
    static int pyattr_set_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
    static PyObject* pyattr_get_steeringVec(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
    

#endif // DISABLE_PYTHON

}; /* end of class KX_SteeringActuator : public SCA_PropertyActuator */

#endif