BGE patch #18051: add localInertia attribute to GameObject.

8 files changed, 53 insertions, 3 deletions

diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
index 435b2b5db19..c621f11994a 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
@@ -162,6 +162,20 @@ MT_Scalar	KX_BulletPhysicsController::GetMass()
 
 }
 
+MT_Vector3 KX_BulletPhysicsController::GetLocalInertia()
+{
+    MT_Vector3 inertia(0.f, 0.f, 0.f);
+    btVector3 inv_inertia;
+    if (GetRigidBody()) {
+        inv_inertia = GetRigidBody()->getInvInertiaDiagLocal();
+		if (!btFuzzyZero(inv_inertia.getX()) && 
+			!btFuzzyZero(inv_inertia.getY()) && 
+			!btFuzzyZero(inv_inertia.getZ()))
+			inertia = MT_Vector3(1.f/inv_inertia.getX(), 1.f/inv_inertia.getY(), 1.f/inv_inertia.getZ());
+    }
+    return inertia;
+}
+
 MT_Scalar KX_BulletPhysicsController::GetRadius()
 {
 	return MT_Scalar(CcdPhysicsController::GetRadius());
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.h b/source/gameengine/Ketsji/KX_BulletPhysicsController.h
index 44fbde7054e..9821b3fd253 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.h
@@ -42,6 +42,7 @@ public:
 	virtual	void setScaling(const MT_Vector3& scaling);
 	virtual	MT_Scalar	GetMass();
 	virtual	void	SetMass(MT_Scalar newmass);
+	virtual	MT_Vector3	GetLocalInertia();
 	virtual	MT_Vector3	getReactionForce();
 	virtual void	setRigidBody(bool rigid);
 	virtual void    AddCompoundChild(KX_IPhysicsController* child);
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index 339a955702a..ea53ffea48f 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -772,6 +772,16 @@ MT_Scalar KX_GameObject::GetMass()
 	return 0.0;
 }
 
+MT_Vector3 KX_GameObject::GetLocalInertia()
+{
+	MT_Vector3 local_inertia(0.0,0.0,0.0);
+	if (m_pPhysicsController1)
+	{
+		local_inertia = m_pPhysicsController1->GetLocalInertia();
+	}
+	return local_inertia;
+}
+
 MT_Vector3 KX_GameObject::GetLinearVelocity(bool local)
 {
 	MT_Vector3 velocity(0.0,0.0,0.0), locvel;
@@ -1050,6 +1060,7 @@ PyAttributeDef KX_GameObject::Attributes[] = {
 	KX_PYATTRIBUTE_RW_FUNCTION("mass",		KX_GameObject, pyattr_get_mass,		pyattr_set_mass),
 	KX_PYATTRIBUTE_RW_FUNCTION("visible",	KX_GameObject, pyattr_get_visible,	pyattr_set_visible),
 	KX_PYATTRIBUTE_RW_FUNCTION("position",	KX_GameObject, pyattr_get_position,	pyattr_set_position),
+	KX_PYATTRIBUTE_RO_FUNCTION("localInertia",	KX_GameObject, pyattr_get_localInertia),
 	KX_PYATTRIBUTE_RW_FUNCTION("orientation",KX_GameObject,pyattr_get_orientation,pyattr_set_orientation),
 	KX_PYATTRIBUTE_RW_FUNCTION("scaling",	KX_GameObject, pyattr_get_scaling,	pyattr_set_scaling),
 	KX_PYATTRIBUTE_RW_FUNCTION("timeOffset",KX_GameObject, pyattr_get_timeOffset,pyattr_set_timeOffset),
@@ -1305,6 +1316,15 @@ int KX_GameObject::pyattr_set_position(void *self_v, const KX_PYATTRIBUTE_DEF *a
 	return 0;
 }
 
+PyObject* KX_GameObject::pyattr_get_localInertia(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
+{
+	KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
+	if (self->GetPhysicsController())
+	{
+		return PyObjectFrom(self->GetPhysicsController()->GetLocalInertia());
+	}
+	Py_RETURN_NONE;
+}
 
 PyObject* KX_GameObject::pyattr_get_orientation(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
 {
@@ -1722,8 +1742,6 @@ PyObject* KX_GameObject::PyGetMass(PyObject* self)
 	return PyFloat_FromDouble((GetPhysicsController() != NULL) ? GetPhysicsController()->GetMass() : 0.0f);
 }
 
-
-
 PyObject* KX_GameObject::PyGetReactionForce(PyObject* self)
 {
 	// only can get the velocity if we have a physics object connected to us...
diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
index 9c7dda5e394..08cc3031479 100644
--- a/source/gameengine/Ketsji/KX_GameObject.h
+++ b/source/gameengine/Ketsji/KX_GameObject.h
@@ -281,6 +281,12 @@ public:
 		MT_Scalar	
 	GetMass();
 
+	/**
+	 * Return the local inertia vector of the object
+	 */
+		MT_Vector3
+	GetLocalInertia();
+
 	/** 
 	 * Return the angular velocity of the game object.
 	 */
@@ -820,6 +826,8 @@ public:
 	static int			pyattr_set_visible(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
 	static PyObject*	pyattr_get_position(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
 	static int			pyattr_set_position(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
+	static PyObject*	pyattr_get_localInertia(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
+	static int			pyattr_set_localInertia(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
 	static PyObject*	pyattr_get_orientation(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
 	static int			pyattr_set_orientation(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
 	static PyObject*	pyattr_get_scaling(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.h b/source/gameengine/Ketsji/KX_IPhysicsController.h
index 13501f1fbbd..b7603203241 100644
--- a/source/gameengine/Ketsji/KX_IPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_IPhysicsController.h
@@ -79,6 +79,7 @@ public:
 	virtual	void setScaling(const MT_Vector3& scaling)=0;
 	virtual	MT_Scalar	GetMass()=0;
 	virtual void	SetMass(MT_Scalar newmass)=0;
+	virtual	MT_Vector3	GetLocalInertia()=0;
 	virtual	MT_Vector3	getReactionForce()=0;
 	virtual void	setRigidBody(bool rigid)=0;
 	virtual void    AddCompoundChild(KX_IPhysicsController* child) = 0;
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
index 7631ee05b0b..fc053f05e63 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
@@ -209,6 +209,11 @@ void	KX_SumoPhysicsController::SetMass(MT_Scalar newmass)
 {
 }
 
+MT_Vector3  KX_SumoPhysicsController::GetLocalInertia()
+{
+    return MT_Vector3(0.f, 0.f, 0.f); // \todo
+}
+
 MT_Scalar	KX_SumoPhysicsController::GetRadius()
 {
 	return SumoPhysicsController::GetRadius();
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
index 46c8ba6df45..8762612eca2 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
@@ -88,6 +88,7 @@ public:
 	virtual	void setScaling(const MT_Vector3& scaling);
 	virtual	MT_Scalar	GetMass();
 	virtual	void		SetMass(MT_Scalar newmass);
+	virtual MT_Vector3	GetLocalInertia();
 	virtual	MT_Scalar	GetRadius();
 	virtual	MT_Vector3	getReactionForce();
 	virtual	void	setRigidBody(bool rigid);
diff --git a/source/gameengine/PyDoc/KX_GameObject.py b/source/gameengine/PyDoc/KX_GameObject.py
index 97f6dab52bf..42656503384 100644
--- a/source/gameengine/PyDoc/KX_GameObject.py
+++ b/source/gameengine/PyDoc/KX_GameObject.py
@@ -16,8 +16,10 @@ class KX_GameObject: # (SCA_IObject)
 	@ivar name: The object's name. (Read only)
 		- note: Currently (Blender 2.49) the prefix "OB" is added to all objects name. This may change in blender 2.5.
 	@type name: string.
-	@ivar mass: The object's mass (provided the object has a physics controller). Read only.
+	@ivar mass: The object's mass (provided the object has a physics controller).
 	@type mass: float
+	@ivar localInertia: the object's inertia vector in local coordinates. Read only.
+	@type localInertia: list [ix, iy, iz]
 	@ivar parent: The object's parent object. (Read only)
 	@type parent: L{KX_GameObject} or None
 	@ivar visible: visibility flag.