more vehicle preparation and some bullet collision detection bugfixes (related to collision margin)

1 files changed, 146 insertions, 4 deletions

diff --git a/source/gameengine/Ketsji/KX_VehicleWrapper.cpp b/source/gameengine/Ketsji/KX_VehicleWrapper.cpp
index 299a2d1f180..9745af028d5 100644
--- a/source/gameengine/Ketsji/KX_VehicleWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_VehicleWrapper.cpp
@@ -4,6 +4,9 @@
 #include "KX_VehicleWrapper.h"
 #include "PHY_IPhysicsEnvironment.h"
 #include "PHY_IVehicle.h"
+#include "KX_PyMath.h"
+#include "KX_GameObject.h"
+#include "KX_MotionState.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -20,6 +23,13 @@ KX_VehicleWrapper::KX_VehicleWrapper(
 
 KX_VehicleWrapper::~KX_VehicleWrapper()
 {
+	int numMotion = m_motionStates.size();
+	for (int i=0;i<numMotion;i++)
+	{
+		PHY_IMotionState* motionState = m_motionStates[i];
+		delete motionState;
+	}
+	m_motionStates.clear();
 }
 
 
@@ -27,18 +37,92 @@ PyObject* KX_VehicleWrapper::PyAddWheel(PyObject* self,
 											PyObject* args, 
 											PyObject* kwds)
 {
+	
+	PyObject* pylistPos,*pylistDir,*pylistAxleDir;
+	PyObject* wheelGameObject;
+	float suspensionRestLength,wheelRadius;
+	int hasSteering;
+
+	
+	if (PyArg_ParseTuple(args,"OOOOffi",&wheelGameObject,&pylistPos,&pylistDir,&pylistAxleDir,&suspensionRestLength,&wheelRadius,&hasSteering))
+	{
+		KX_GameObject* gameOb = (KX_GameObject*) wheelGameObject;
+		
+		PHY_IMotionState* motionState = new KX_MotionState(gameOb->GetSGNode());
+
+		MT_Vector3 attachPos,attachDir,attachAxle;
+		PyVecTo(pylistPos,attachPos);
+		PyVecTo(pylistDir,attachDir);
+		PyVecTo(pylistAxleDir,attachAxle);
+		PHY__Vector3 aPos,aDir,aAxle;
+		aPos[0] = attachPos[0];
+		aPos[1] = attachPos[1];
+		aPos[2] = attachPos[2];
+		aDir[0] = attachDir[0];
+		aDir[1] = attachDir[1];
+		aDir[2] = attachDir[2];
+		aAxle[0] = attachAxle[0];
+		aAxle[1] = attachAxle[1];
+		aAxle[2] = attachAxle[2];
+		
+		printf("attempt for addWheel: suspensionRestLength%f wheelRadius %f, hasSteering:%d\n",suspensionRestLength,wheelRadius,hasSteering);
+		m_vehicle->AddWheel(motionState,aPos,aDir,aAxle,suspensionRestLength,wheelRadius,hasSteering);
+		
+	}
 	Py_INCREF(Py_None);
 	return Py_None;
 }
 
 
 
-PyObject* KX_VehicleWrapper::PyGetWheelsTransform(PyObject* self, 
+
+PyObject* KX_VehicleWrapper::PyGetWheelPosition(PyObject* self, 
 											PyObject* args, 
 											PyObject* kwds)
 {
-	assert(0);
-	return PyInt_FromLong(m_vehicle->GetNumWheels());
+	
+	int wheelIndex;
+
+	if (PyArg_ParseTuple(args,"i",&wheelIndex))
+	{
+		float position[3];
+		m_vehicle->GetWheelPosition(wheelIndex,position[0],position[1],position[2]);
+		MT_Vector3 pos(position[0],position[1],position[2]);
+		return PyObjectFrom(pos);
+	}
+	Py_INCREF(Py_None);
+	return Py_None;
+}
+
+PyObject* KX_VehicleWrapper::PyGetWheelRotation(PyObject* self, 
+											PyObject* args, 
+											PyObject* kwds)
+{
+	int wheelIndex;
+	if (PyArg_ParseTuple(args,"i",&wheelIndex))
+	{
+		return PyFloat_FromDouble(m_vehicle->GetWheelRotation(wheelIndex));
+	}
+	Py_INCREF(Py_None);
+	return Py_None;
+}
+
+PyObject* KX_VehicleWrapper::PyGetWheelOrientationQuaternion(PyObject* self, 
+											PyObject* args, 
+											PyObject* kwds)
+{
+	int wheelIndex;
+	if (PyArg_ParseTuple(args,"i",&wheelIndex))
+	{
+		float orn[4];
+		m_vehicle->GetWheelOrientationQuaternion(wheelIndex,orn[0],orn[1],orn[2],orn[3]);
+		MT_Quaternion	quatorn(orn[0],orn[1],orn[2],orn[3]);
+		MT_Matrix3x3 ornmat(quatorn);
+		return PyObjectFrom(ornmat);
+	}
+	Py_INCREF(Py_None);
+	return Py_None;
+
 }
 
 
@@ -57,6 +141,58 @@ PyObject* KX_VehicleWrapper::PyGetConstraintId(PyObject* self,
 	return PyInt_FromLong(m_vehicle->GetUserConstraintId());
 }
 
+
+
+PyObject* KX_VehicleWrapper::PyApplyEngineForce(PyObject* self, 
+											PyObject* args, 
+											PyObject* kwds)
+{
+	float force;
+	int wheelIndex;
+
+	if (PyArg_ParseTuple(args,"fi",&force,&wheelIndex))
+	{
+		m_vehicle->ApplyEngineForce(force,wheelIndex);
+	}
+	Py_INCREF(Py_None);
+	return Py_None;
+}
+
+
+PyObject* KX_VehicleWrapper::PyApplyBraking(PyObject* self, 
+											PyObject* args, 
+											PyObject* kwds)
+{
+	float braking;
+	int wheelIndex;
+
+	if (PyArg_ParseTuple(args,"fi",&braking,&wheelIndex))
+	{
+		m_vehicle->ApplyBraking(braking,wheelIndex);
+	}
+	Py_INCREF(Py_None);
+	return Py_None;
+}
+
+
+
+
+PyObject* KX_VehicleWrapper::PySetSteeringValue(PyObject* self, 
+											PyObject* args, 
+											PyObject* kwds)
+{
+	float steeringValue;
+	int wheelIndex;
+
+	if (PyArg_ParseTuple(args,"fi",&steeringValue,&wheelIndex))
+	{
+		m_vehicle->SetSteeringValue(steeringValue,wheelIndex);
+	}
+	Py_INCREF(Py_None);
+	return Py_None;
+}
+
+
 PyObject* KX_VehicleWrapper::PyGetConstraintType(PyObject* self, 
 											PyObject* args, 
 											PyObject* kwds)
@@ -67,6 +203,7 @@ PyObject* KX_VehicleWrapper::PyGetConstraintType(PyObject* self,
 
 
 
+
 //python specific stuff
 PyTypeObject KX_VehicleWrapper::Type = {
 	PyObject_HEAD_INIT(&PyType_Type)
@@ -130,9 +267,14 @@ int	KX_VehicleWrapper::_setattr(const STR_String& attr,PyObject* pyobj)
 PyMethodDef KX_VehicleWrapper::Methods[] = {
 	{"addWheel",(PyCFunction) KX_VehicleWrapper::sPyAddWheel, METH_VARARGS},
 	{"getNumWheels",(PyCFunction) KX_VehicleWrapper::sPyGetNumWheels, METH_VARARGS},
-	{"getWheelsTransform",(PyCFunction) KX_VehicleWrapper::sPyGetWheelsTransform, METH_VARARGS},
+	{"getWheelOrientationQuaternion",(PyCFunction) KX_VehicleWrapper::sPyGetWheelOrientationQuaternion, METH_VARARGS},
+	{"getWheelRotation",(PyCFunction) KX_VehicleWrapper::sPyGetWheelRotation, METH_VARARGS},
+	{"getWheelPosition",(PyCFunction) KX_VehicleWrapper::sPyGetWheelPosition, METH_VARARGS},
 	{"getConstraintId",(PyCFunction) KX_VehicleWrapper::sPyGetConstraintId, METH_VARARGS},
 	{"getConstraintType",(PyCFunction) KX_VehicleWrapper::sPyGetConstraintType, METH_VARARGS},
+	{"setSteeringValue",(PyCFunction) KX_VehicleWrapper::sPySetSteeringValue, METH_VARARGS},
+	{"applyEngineForce",(PyCFunction) KX_VehicleWrapper::sPyApplyEngineForce, METH_VARARGS},
+	{"applyBraking",(PyCFunction) KX_VehicleWrapper::sPyApplyBraking, METH_VARARGS},
 	{NULL,NULL} //Sentinel
 };