/** * $Id$ * ***** 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. * All rights reserved. * * The Original Code is: all of this file. * * Contributor(s): none yet. * * ***** END GPL LICENSE BLOCK ***** */ #include "KX_RadarSensor.h" #include "KX_GameObject.h" #include "KX_PyMath.h" #include "PHY_IPhysicsController.h" #ifdef HAVE_CONFIG_H #include #endif /** * RadarSensor constructor. Creates a near-sensor derived class, with a cone collision shape. */ KX_RadarSensor::KX_RadarSensor(SCA_EventManager* eventmgr, KX_GameObject* gameobj, PHY_IPhysicsController* physCtrl, double coneradius, double coneheight, int axis, double margin, double resetmargin, bool bFindMaterial, const STR_String& touchedpropname, class KX_Scene* kxscene, PyTypeObject* T) : KX_NearSensor( eventmgr, gameobj, //DT_NewCone(coneradius,coneheight), margin, resetmargin, bFindMaterial, touchedpropname, kxscene, physCtrl, T), m_coneradius(coneradius), m_coneheight(coneheight), m_axis(axis) { m_client_info->m_type = KX_ClientObjectInfo::RADAR; //m_client_info->m_clientobject = gameobj; //m_client_info->m_auxilary_info = NULL; //sumoObj->setClientObject(&m_client_info); } KX_RadarSensor::~KX_RadarSensor() { } CValue* KX_RadarSensor::GetReplica() { KX_RadarSensor* replica = new KX_RadarSensor(*this); replica->m_colliders = new CListValue(); replica->Init(); // this will copy properties and so on... CValue::AddDataToReplica(replica); replica->m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::RADAR); if (replica->m_physCtrl) { replica->m_physCtrl = replica->m_physCtrl->GetReplica(); if (replica->m_physCtrl) { replica->m_physCtrl->setNewClientInfo(replica->m_client_info); } } //todo: make sure replication works fine! //>m_sumoObj = new SM_Object(DT_NewCone(m_coneradius, m_coneheight),NULL,NULL,NULL); //replica->m_sumoObj->setMargin(m_Margin); //replica->m_sumoObj->setClientObject(replica->m_client_info); ((KX_GameObject*)replica->GetParent())->GetSGNode()->ComputeWorldTransforms(NULL); replica->SynchronizeTransform(); return replica; } /** * Transforms the collision object. A cone is not correctly centered * for usage. */ void KX_RadarSensor::SynchronizeTransform() { // Getting the parent location was commented out. Why? MT_Transform trans; trans.setOrigin(((KX_GameObject*)GetParent())->NodeGetWorldPosition()); trans.setBasis(((KX_GameObject*)GetParent())->NodeGetWorldOrientation()); // What is the default orientation? pointing in the -y direction? // is the geometry correctly converted? // a collision cone is oriented // center the cone correctly // depends on the radar 'axis' switch (m_axis) { case 0: // +X Axis { MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90)); trans.rotate(rotquatje); trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0)); break; }; case 1: // +Y Axis { MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180)); trans.rotate(rotquatje); trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0)); break; }; case 2: // +Z Axis { MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-90)); trans.rotate(rotquatje); trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0)); break; }; case 3: // -X Axis { MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(-90)); trans.rotate(rotquatje); trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0)); break; }; case 4: // -Y Axis { //MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180)); //trans.rotate(rotquatje); trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0)); break; }; case 5: // -Z Axis { MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(90)); trans.rotate(rotquatje); trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0)); break; }; default: { } } m_cone_origin = trans.getOrigin(); m_cone_target = trans(MT_Point3(0, -m_coneheight/2.0 ,0)); if (m_physCtrl) { MT_Quaternion orn = trans.getRotation(); MT_Point3 pos = trans.getOrigin(); m_physCtrl->setPosition(pos[0],pos[1],pos[2]); m_physCtrl->setOrientation(orn[0],orn[1],orn[2],orn[3]); m_physCtrl->calcXform(); } } /* ------------------------------------------------------------------------- */ /* Python functions */ /* ------------------------------------------------------------------------- */ /* Integration hooks ------------------------------------------------------- */ PyTypeObject KX_RadarSensor::Type = { PyObject_HEAD_INIT(&PyType_Type) 0, "KX_RadarSensor", sizeof(KX_RadarSensor), 0, PyDestructor, 0, __getattr, __setattr, 0, //&MyPyCompare, __repr, 0, //&cvalue_as_number, 0, 0, 0, 0 }; PyParentObject KX_RadarSensor::Parents[] = { &KX_RadarSensor::Type, &KX_NearSensor::Type, &KX_TouchSensor::Type, &SCA_ISensor::Type, &SCA_ILogicBrick::Type, &CValue::Type, NULL }; PyMethodDef KX_RadarSensor::Methods[] = { {"getConeOrigin", (PyCFunction) KX_RadarSensor::sPyGetConeOrigin, METH_NOARGS, (PY_METHODCHAR)GetConeOrigin_doc}, {"getConeTarget", (PyCFunction) KX_RadarSensor::sPyGetConeTarget, METH_NOARGS, (PY_METHODCHAR)GetConeTarget_doc}, {"getConeHeight", (PyCFunction) KX_RadarSensor::sPyGetConeHeight, METH_NOARGS, (PY_METHODCHAR)GetConeHeight_doc}, {NULL,NULL,NULL,NULL} //Sentinel }; PyAttributeDef KX_RadarSensor::Attributes[] = { { NULL } //Sentinel }; PyObject* KX_RadarSensor::_getattr(const char *attr) { _getattr_up(KX_TouchSensor); } /* getConeOrigin */ const char KX_RadarSensor::GetConeOrigin_doc[] = "getConeOrigin()\n" "\tReturns the origin of the cone with which to test. The origin\n" "\tis in the middle of the cone."; PyObject* KX_RadarSensor::PyGetConeOrigin(PyObject* self) { return PyObjectFrom(m_cone_origin); } /* getConeOrigin */ const char KX_RadarSensor::GetConeTarget_doc[] = "getConeTarget()\n" "\tReturns the center of the bottom face of the cone with which to test.\n"; PyObject* KX_RadarSensor::PyGetConeTarget(PyObject* self) { return PyObjectFrom(m_cone_target); } /* getConeOrigin */ const char KX_RadarSensor::GetConeHeight_doc[] = "getConeHeight()\n" "\tReturns the height of the cone with which to test.\n"; PyObject* KX_RadarSensor::PyGetConeHeight(PyObject* self) { return PyFloat_FromDouble(m_coneheight); }