BGE - Vehicle Controller - add background and API checks for arguments of function calls
Fixes T41570 crash For readability, attachDir was renamed to downDir and the Python API docs renamed accordingly
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@ -11,22 +11,25 @@ base class --- :class:`PyObjectPlus`
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TODO - description
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.. method:: addWheel(wheel, attachPos, attachDir, axleDir, suspensionRestLength, wheelRadius, hasSteering)
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.. method:: addWheel(wheel, attachPos, downDir, axleDir, suspensionRestLength, wheelRadius, hasSteering)
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Add a wheel to the vehicle
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:arg wheel: The object to use as a wheel.
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:type wheel: :class:`KX_GameObject` or a KX_GameObject name
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:arg attachPos: The position that this wheel will attach to.
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:type wheel: :class:`KX_GameObject` or a :class:`KX_GameObject` name
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:arg attachPos: The position to attach the wheel, relative to the chassis object center.
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:type attachPos: vector of 3 floats
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:arg attachDir: The direction this wheel points.
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:type attachDir: vector of 3 floats
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:arg axleDir: The direction of this wheels axle.
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:arg downDir: The direction vector pointing down to where the vehicle should collide with the floor.
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:type downDir: vector of 3 floats
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:arg axleDir: The axis the wheel rotates around, relative to the chassis.
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:type axleDir: vector of 3 floats
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:arg suspensionRestLength: TODO - Description
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:arg suspensionRestLength: The length of the suspension when no forces are being applied.
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:type suspensionRestLength: float
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:arg wheelRadius: The size of the wheel.
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:arg wheelRadius: The radius of the wheel (half the diameter).
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:type wheelRadius: float
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:arg hasSteering: True if the wheel should turn with steering, typically used in front wheels.
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:type hasSteering: boolean
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.. method:: applyBraking(force, wheelIndex)
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@ -38,6 +41,7 @@ base class --- :class:`PyObjectPlus`
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:arg wheelIndex: index of the wheel where the force needs to be applied
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:type wheelIndex: integer
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.. method:: applyEngineForce(force, wheelIndex)
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Apply an engine force to the specified wheel
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@ -48,6 +52,7 @@ base class --- :class:`PyObjectPlus`
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:arg wheelIndex: index of the wheel where the force needs to be applied
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:type wheelIndex: integer
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.. method:: getConstraintId()
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Get the constraint ID
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@ -53,6 +53,22 @@ KX_VehicleWrapper::~KX_VehicleWrapper()
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#ifdef WITH_PYTHON
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static bool raise_exc_wheel(PHY_IVehicle* vehicle, int i, const char *method)
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{
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if ( i < 0 || i >= vehicle->GetNumWheels() ) {
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PyErr_Format(PyExc_ValueError,
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"%s(...): wheel index %d out of range (0 to %d).", method, i, vehicle->GetNumWheels()-1);
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return -1;
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} else {
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return 0;
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}
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}
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#define WHEEL_INDEX_CHECK_OR_RETURN(i, method) \
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if (raise_exc_wheel(m_vehicle, i, method) == -1) { return NULL; } (void)0
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PyObject *KX_VehicleWrapper::PyAddWheel(PyObject *args)
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{
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@ -67,22 +83,37 @@ PyObject *KX_VehicleWrapper::PyAddWheel(PyObject *args)
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KX_GameObject *gameOb;
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if (!ConvertPythonToGameObject(wheelGameObject, &gameOb, false, "vehicle.addWheel(...): KX_VehicleWrapper (first argument)"))
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return NULL;
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if (gameOb->GetSGNode())
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{
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PHY_IMotionState* motionState = new KX_MotionState(gameOb->GetSGNode());
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/* TODO - no error checking here! - bad juju */
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MT_Vector3 attachPos,attachDir,attachAxle;
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PyVecTo(pylistPos,attachPos);
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PyVecTo(pylistDir,attachDir);
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PyVecTo(pylistAxleDir,attachAxle);
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if(!PyVecTo(pylistPos,attachPos)) {
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PyErr_SetString(PyExc_AttributeError,
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"addWheel(...) Unable to add wheel. attachPos must be a vector with 3 elements.");
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return NULL;
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}
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if(!PyVecTo(pylistDir,attachDir)) {
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PyErr_SetString(PyExc_AttributeError,
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"addWheel(...) Unable to add wheel. downDir must be a vector with 3 elements.");
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return NULL;
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}
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if(!PyVecTo(pylistAxleDir,attachAxle)) {
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PyErr_SetString(PyExc_AttributeError,
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"addWheel(...) Unable to add wheel. axleDir must be a vector with 3 elements.");
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return NULL;
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}
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//someone reverse some conventions inside Bullet (axle winding)
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attachAxle = -attachAxle;
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printf("attempt for addWheel: suspensionRestLength%f wheelRadius %f, hasSteering:%d\n",suspensionRestLength,wheelRadius,hasSteering);
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if(wheelRadius<=0) {
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PyErr_SetString(PyExc_AttributeError,
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"addWheel(...) Unable to add wheel. wheelRadius must be positive.");
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return NULL;
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}
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m_vehicle->AddWheel(motionState,attachPos,attachDir,attachAxle,suspensionRestLength,wheelRadius,hasSteering);
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}
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@ -93,8 +124,6 @@ PyObject *KX_VehicleWrapper::PyAddWheel(PyObject *args)
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}
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PyObject *KX_VehicleWrapper::PyGetWheelPosition(PyObject *args)
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{
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@ -103,6 +132,8 @@ PyObject *KX_VehicleWrapper::PyGetWheelPosition(PyObject *args)
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if (PyArg_ParseTuple(args,"i:getWheelPosition",&wheelIndex))
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{
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float position[3];
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WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "getWheelPosition");
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m_vehicle->GetWheelPosition(wheelIndex,position[0],position[1],position[2]);
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MT_Vector3 pos(position[0],position[1],position[2]);
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return PyObjectFrom(pos);
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@ -115,6 +146,8 @@ PyObject *KX_VehicleWrapper::PyGetWheelRotation(PyObject *args)
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int wheelIndex;
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if (PyArg_ParseTuple(args,"i:getWheelRotation",&wheelIndex))
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{
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WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "getWheelRotation");
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return PyFloat_FromDouble(m_vehicle->GetWheelRotation(wheelIndex));
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}
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return NULL;
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@ -126,6 +159,8 @@ PyObject *KX_VehicleWrapper::PyGetWheelOrientationQuaternion(PyObject *args)
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if (PyArg_ParseTuple(args,"i:getWheelOrientationQuaternion",&wheelIndex))
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{
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float orn[4];
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WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "getWheelOrientationQuaternion");
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m_vehicle->GetWheelOrientationQuaternion(wheelIndex,orn[0],orn[1],orn[2],orn[3]);
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MT_Quaternion quatorn(orn[0],orn[1],orn[2],orn[3]);
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MT_Matrix3x3 ornmat(quatorn);
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@ -148,7 +183,6 @@ PyObject *KX_VehicleWrapper::PyGetConstraintId(PyObject *args)
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}
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PyObject *KX_VehicleWrapper::PyApplyEngineForce(PyObject *args)
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{
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float force;
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@ -156,6 +190,8 @@ PyObject *KX_VehicleWrapper::PyApplyEngineForce(PyObject *args)
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if (PyArg_ParseTuple(args,"fi:applyEngineForce",&force,&wheelIndex))
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{
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WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "applyEngineForce");
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force *= -1.f;//someone reverse some conventions inside Bullet (axle winding)
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m_vehicle->ApplyEngineForce(force,wheelIndex);
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}
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@ -172,6 +208,8 @@ PyObject *KX_VehicleWrapper::PySetTyreFriction(PyObject *args)
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if (PyArg_ParseTuple(args,"fi:setTyreFriction",&wheelFriction,&wheelIndex))
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{
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WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "setTyreFriction");
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m_vehicle->SetWheelFriction(wheelFriction,wheelIndex);
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}
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else {
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@ -187,6 +225,8 @@ PyObject *KX_VehicleWrapper::PySetSuspensionStiffness(PyObject *args)
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if (PyArg_ParseTuple(args,"fi:setSuspensionStiffness",&suspensionStiffness,&wheelIndex))
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{
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WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "setSuspensionStiffness");
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m_vehicle->SetSuspensionStiffness(suspensionStiffness,wheelIndex);
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}
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else {
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@ -202,6 +242,8 @@ PyObject *KX_VehicleWrapper::PySetSuspensionDamping(PyObject *args)
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if (PyArg_ParseTuple(args,"fi:setSuspensionDamping",&suspensionDamping,&wheelIndex))
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{
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WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "setSuspensionDamping");
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m_vehicle->SetSuspensionDamping(suspensionDamping,wheelIndex);
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} else {
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return NULL;
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@ -216,6 +258,8 @@ PyObject *KX_VehicleWrapper::PySetSuspensionCompression(PyObject *args)
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if (PyArg_ParseTuple(args,"fi:setSuspensionCompression",&suspensionCompression,&wheelIndex))
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{
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WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "setSuspensionCompression");
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m_vehicle->SetSuspensionCompression(suspensionCompression,wheelIndex);
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} else {
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return NULL;
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@ -230,6 +274,8 @@ PyObject *KX_VehicleWrapper::PySetRollInfluence(PyObject *args)
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if (PyArg_ParseTuple(args,"fi:setRollInfluence",&rollInfluence,&wheelIndex))
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{
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WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "setRollInfluence");
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m_vehicle->SetRollInfluence(rollInfluence,wheelIndex);
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}
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else {
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@ -246,6 +292,8 @@ PyObject *KX_VehicleWrapper::PyApplyBraking(PyObject *args)
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if (PyArg_ParseTuple(args,"fi:applyBraking",&braking,&wheelIndex))
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{
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WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "applyBraking");
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m_vehicle->ApplyBraking(braking,wheelIndex);
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}
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else {
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@ -255,8 +303,6 @@ PyObject *KX_VehicleWrapper::PyApplyBraking(PyObject *args)
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}
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PyObject *KX_VehicleWrapper::PySetSteeringValue(PyObject *args)
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{
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float steeringValue;
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@ -264,6 +310,8 @@ PyObject *KX_VehicleWrapper::PySetSteeringValue(PyObject *args)
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if (PyArg_ParseTuple(args,"fi:setSteeringValue",&steeringValue,&wheelIndex))
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{
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WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "setSteeringValue");
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m_vehicle->SetSteeringValue(steeringValue,wheelIndex);
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}
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else {
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@ -316,17 +364,11 @@ PyMethodDef KX_VehicleWrapper::Methods[] = {
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{"setSteeringValue",(PyCFunction) KX_VehicleWrapper::sPySetSteeringValue, METH_VARARGS},
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{"applyEngineForce",(PyCFunction) KX_VehicleWrapper::sPyApplyEngineForce, METH_VARARGS},
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{"applyBraking",(PyCFunction) KX_VehicleWrapper::sPyApplyBraking, METH_VARARGS},
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{"setTyreFriction",(PyCFunction) KX_VehicleWrapper::sPySetTyreFriction, METH_VARARGS},
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{"setSuspensionStiffness",(PyCFunction) KX_VehicleWrapper::sPySetSuspensionStiffness, METH_VARARGS},
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{"setSuspensionDamping",(PyCFunction) KX_VehicleWrapper::sPySetSuspensionDamping, METH_VARARGS},
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{"setSuspensionCompression",(PyCFunction) KX_VehicleWrapper::sPySetSuspensionCompression, METH_VARARGS},
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{"setRollInfluence",(PyCFunction) KX_VehicleWrapper::sPySetRollInfluence, METH_VARARGS},
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{NULL,NULL} //Sentinel
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};
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@ -174,26 +174,27 @@ public:
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virtual void GetWheelPosition(int wheelIndex,float& posX,float& posY,float& posZ) const
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{
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btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex);
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posX = trans.getOrigin().x();
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posY = trans.getOrigin().y();
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posZ = trans.getOrigin().z();
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btVector3 origin = m_vehicle->getWheelTransformWS(wheelIndex).getOrigin();
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posX = origin.x();
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posY = origin.y();
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posZ = origin.z();
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}
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}
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virtual void GetWheelOrientationQuaternion(int wheelIndex,float& quatX,float& quatY,float& quatZ,float& quatW) const
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{
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btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex);
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btQuaternion quat = trans.getRotation();
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btMatrix3x3 orn2(quat);
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quatX = trans.getRotation().x();
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quatY = trans.getRotation().y();
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quatZ = trans.getRotation().z();
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quatW = trans.getRotation()[3];
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//printf("test");
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btQuaternion quat = m_vehicle->getWheelTransformWS(wheelIndex).getRotation();
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quatX = quat.x();
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quatY = quat.y();
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quatZ = quat.z();
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quatW = quat.w();
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}
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}
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virtual float GetWheelRotation(int wheelIndex) const
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@ -205,8 +206,8 @@ public:
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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rotation = info.m_rotation;
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}
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return rotation;
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return rotation;
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}
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@ -223,12 +224,16 @@ public:
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virtual void SetSteeringValue(float steering,int wheelIndex)
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{
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m_vehicle->setSteeringValue(steering,wheelIndex);
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) {
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m_vehicle->setSteeringValue(steering,wheelIndex);
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}
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}
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virtual void ApplyEngineForce(float force,int wheelIndex)
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{
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m_vehicle->applyEngineForce(force,wheelIndex);
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) {
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m_vehicle->applyEngineForce(force,wheelIndex);
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}
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}
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virtual void ApplyBraking(float braking,int wheelIndex)
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