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/**
* $Id$
* ***** 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"
#include "PHY_IMotionState.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#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)
: 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 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:
{
}
}
//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/2.0 ,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 */
/* ------------------------------------------------------------------------- */
//Deprecated ----->
/* 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() {
ShowDeprecationWarning("getConeOrigin()", "the coneOrigin property");
PyObject *retVal = PyList_New(3);
PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_cone_origin[0]));
PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_cone_origin[1]));
PyList_SET_ITEM(retVal, 2, PyFloat_FromDouble(m_cone_origin[2]));
return retVal;
}
/* 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() {
ShowDeprecationWarning("getConeTarget()", "the coneTarget property");
PyObject *retVal = PyList_New(3);
PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_cone_target[0]));
PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_cone_target[1]));
PyList_SET_ITEM(retVal, 2, PyFloat_FromDouble(m_cone_target[2]));
return retVal;
}
/* getConeHeight */
const char KX_RadarSensor::GetConeHeight_doc[] =
"getConeHeight()\n"
"\tReturns the height of the cone with which to test.\n";
PyObject* KX_RadarSensor::PyGetConeHeight() {
ShowDeprecationWarning("getConeHeight()", "the distance property");
return PyFloat_FromDouble(m_coneheight);
}
//<----- Deprecated
/* ------------------------------------------------------------------------- */
/* 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[] = {
//Deprecated ----->
{"getConeOrigin", (PyCFunction) KX_RadarSensor::sPyGetConeOrigin,
METH_VARARGS, (const char *)GetConeOrigin_doc},
{"getConeTarget", (PyCFunction) KX_RadarSensor::sPyGetConeTarget,
METH_VARARGS, (const char *)GetConeTarget_doc},
{"getConeHeight", (PyCFunction) KX_RadarSensor::sPyGetConeHeight,
METH_VARARGS, (const char *)GetConeHeight_doc},
//<-----
{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_FLOAT_RW("angle", 0, 360, KX_RadarSensor, m_coneradius),
KX_PYATTRIBUTE_INT_RW("axis", 0, 5, true, KX_RadarSensor, m_axis),
{NULL} //Sentinel
};
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