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/*
* ***** 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 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 *****
*/
/** \file gameengine/Ketsji/KX_RadarSensor.cpp
* \ingroup ketsji
*/
#include "KX_RadarSensor.h"
#include "KX_GameObject.h"
#include "KX_PyMath.h"
#include "PHY_IPhysicsController.h"
#include "PHY_IMotionState.h"
#include "DNA_sensor_types.h"
/**
* 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)
: KX_NearSensor(
eventmgr,
gameobj,
//DT_NewCone(coneradius,coneheight),
margin,
resetmargin,
bFindMaterial,
touchedpropname,
physCtrl),
m_coneradius(coneradius),
m_coneheight(coneheight),
m_axis(axis)
{
m_client_info->m_type = KX_ClientObjectInfo::SENSOR;
//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->ProcessReplica();
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 SENS_RADAR_X_AXIS: // +X Axis
{
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0f, 0));
break;
};
case SENS_RADAR_Y_AXIS: // +Y Axis
{
MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0f, 0));
break;
};
case SENS_RADAR_Z_AXIS: // +Z Axis
{
MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0f, 0));
break;
};
case SENS_RADAR_NEG_X_AXIS: // -X Axis
{
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(-90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0f, 0));
break;
};
case SENS_RADAR_NEG_Y_AXIS: // -Y Axis
{
//MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
//trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0f, 0));
break;
};
case SENS_RADAR_NEG_Z_AXIS: // -Z Axis
{
MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0f, 0));
break;
};
default:
{
}
}
//Using a temp variable to translate MT_Point3 to float[3].
//float[3] works better for the Python interface.
MT_Point3 temp = trans.getOrigin();
m_cone_origin[0] = temp[0];
m_cone_origin[1] = temp[1];
m_cone_origin[2] = temp[2];
temp = trans(MT_Point3(0, -m_coneheight/2.0f, 0));
m_cone_target[0] = temp[0];
m_cone_target[1] = temp[1];
m_cone_target[2] = temp[2];
if (m_physCtrl)
{
PHY_IMotionState* motionState = m_physCtrl->GetMotionState();
const MT_Point3& pos = trans.getOrigin();
float ori[12];
trans.getBasis().getValue(ori);
motionState->SetWorldPosition(pos[0], pos[1], pos[2]);
motionState->SetWorldOrientation(ori);
m_physCtrl->WriteMotionStateToDynamics(true);
}
}
/* ------------------------------------------------------------------------- */
/* Python Functions */
/* ------------------------------------------------------------------------- */
#ifdef WITH_PYTHON
/* ------------------------------------------------------------------------- */
/* Python Integration Hooks */
/* ------------------------------------------------------------------------- */
PyTypeObject KX_RadarSensor::Type = {
PyVarObject_HEAD_INIT(NULL, 0)
"KX_RadarSensor",
sizeof(PyObjectPlus_Proxy),
0,
py_base_dealloc,
0,
0,
0,
0,
py_base_repr,
0,0,0,0,0,0,0,0,0,
Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
0,0,0,0,0,0,0,
Methods,
0,
0,
&KX_NearSensor::Type,
0,0,0,0,0,0,
py_base_new
};
PyMethodDef KX_RadarSensor::Methods[] = {
{NULL} //Sentinel
};
PyAttributeDef KX_RadarSensor::Attributes[] = {
KX_PYATTRIBUTE_FLOAT_ARRAY_RO("coneOrigin", KX_RadarSensor, m_cone_origin, 3),
KX_PYATTRIBUTE_FLOAT_ARRAY_RO("coneTarget", KX_RadarSensor, m_cone_target, 3),
KX_PYATTRIBUTE_FLOAT_RO("distance", KX_RadarSensor, m_coneheight),
KX_PYATTRIBUTE_RO_FUNCTION("angle", KX_RadarSensor, pyattr_get_angle),
KX_PYATTRIBUTE_INT_RW("axis", 0, 5, true, KX_RadarSensor, m_axis),
{NULL} //Sentinel
};
PyObject *KX_RadarSensor::pyattr_get_angle(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
KX_RadarSensor* self = static_cast<KX_RadarSensor*>(self_v);
// The original angle from the gui was converted, so we recalculate the value here to maintain
// consistency between Python and the gui
return PyFloat_FromDouble(MT_degrees(atan(self->m_coneradius / self->m_coneheight)) * 2);
}
#endif // WITH_PYTHON
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