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#include <Python.h>
#include "PyObjectPlus.h"
#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>
#endif
KX_VehicleWrapper::KX_VehicleWrapper(
PHY_IVehicle* vehicle,
PHY_IPhysicsEnvironment* physenv) :
PyObjectPlus(),
m_vehicle(vehicle),
m_physenv(physenv)
{
}
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();
}
PyObject* KX_VehicleWrapper::PyAddWheel(PyObject* args)
{
PyObject* pylistPos,*pylistDir,*pylistAxleDir;
PyObject* wheelGameObject;
float suspensionRestLength,wheelRadius;
int hasSteering;
if (PyArg_ParseTuple(args,"OOOOffi:addWheel",&wheelGameObject,&pylistPos,&pylistDir,&pylistAxleDir,&suspensionRestLength,&wheelRadius,&hasSteering))
{
KX_GameObject *gameOb;
if (!ConvertPythonToGameObject(wheelGameObject, &gameOb, false, "vehicle.addWheel(...): KX_VehicleWrapper (first argument)"))
return NULL;
if (gameOb->GetSGNode())
{
PHY_IMotionState* motionState = new KX_MotionState(gameOb->GetSGNode());
/* TODO - no error checking here! - bad juju */
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];//someone reverse some conventions inside Bullet (axle winding)
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);
}
} else {
return NULL;
}
Py_RETURN_NONE;
}
PyObject* KX_VehicleWrapper::PyGetWheelPosition(PyObject* args)
{
int wheelIndex;
if (PyArg_ParseTuple(args,"i:getWheelPosition",&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);
}
return NULL;
}
PyObject* KX_VehicleWrapper::PyGetWheelRotation(PyObject* args)
{
int wheelIndex;
if (PyArg_ParseTuple(args,"i:getWheelRotation",&wheelIndex))
{
return PyFloat_FromDouble(m_vehicle->GetWheelRotation(wheelIndex));
}
return NULL;
}
PyObject* KX_VehicleWrapper::PyGetWheelOrientationQuaternion(PyObject* args)
{
int wheelIndex;
if (PyArg_ParseTuple(args,"i:getWheelOrientationQuaternion",&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);
}
return NULL;
}
PyObject* KX_VehicleWrapper::PyGetNumWheels(PyObject* args)
{
return PyLong_FromSsize_t(m_vehicle->GetNumWheels());
}
PyObject* KX_VehicleWrapper::PyGetConstraintId(PyObject* args)
{
return PyLong_FromSsize_t(m_vehicle->GetUserConstraintId());
}
PyObject* KX_VehicleWrapper::PyApplyEngineForce(PyObject* args)
{
float force;
int wheelIndex;
if (PyArg_ParseTuple(args,"fi:applyEngineForce",&force,&wheelIndex))
{
force *= -1.f;//someone reverse some conventions inside Bullet (axle winding)
m_vehicle->ApplyEngineForce(force,wheelIndex);
}
else {
return NULL;
}
Py_RETURN_NONE;
}
PyObject* KX_VehicleWrapper::PySetTyreFriction(PyObject* args)
{
float wheelFriction;
int wheelIndex;
if (PyArg_ParseTuple(args,"fi:setTyreFriction",&wheelFriction,&wheelIndex))
{
m_vehicle->SetWheelFriction(wheelFriction,wheelIndex);
}
else {
return NULL;
}
Py_RETURN_NONE;
}
PyObject* KX_VehicleWrapper::PySetSuspensionStiffness(PyObject* args)
{
float suspensionStiffness;
int wheelIndex;
if (PyArg_ParseTuple(args,"fi:setSuspensionStiffness",&suspensionStiffness,&wheelIndex))
{
m_vehicle->SetSuspensionStiffness(suspensionStiffness,wheelIndex);
}
else {
return NULL;
}
Py_RETURN_NONE;
}
PyObject* KX_VehicleWrapper::PySetSuspensionDamping(PyObject* args)
{
float suspensionDamping;
int wheelIndex;
if (PyArg_ParseTuple(args,"fi:setSuspensionDamping",&suspensionDamping,&wheelIndex))
{
m_vehicle->SetSuspensionDamping(suspensionDamping,wheelIndex);
} else {
return NULL;
}
Py_RETURN_NONE;
}
PyObject* KX_VehicleWrapper::PySetSuspensionCompression(PyObject* args)
{
float suspensionCompression;
int wheelIndex;
if (PyArg_ParseTuple(args,"fi:setSuspensionCompression",&suspensionCompression,&wheelIndex))
{
m_vehicle->SetSuspensionCompression(suspensionCompression,wheelIndex);
} else {
return NULL;
}
Py_RETURN_NONE;
}
PyObject* KX_VehicleWrapper::PySetRollInfluence(PyObject* args)
{
float rollInfluence;
int wheelIndex;
if (PyArg_ParseTuple(args,"fi:setRollInfluence",&rollInfluence,&wheelIndex))
{
m_vehicle->SetRollInfluence(rollInfluence,wheelIndex);
}
else {
return NULL;
}
Py_RETURN_NONE;
}
PyObject* KX_VehicleWrapper::PyApplyBraking(PyObject* args)
{
float braking;
int wheelIndex;
if (PyArg_ParseTuple(args,"fi:applyBraking",&braking,&wheelIndex))
{
m_vehicle->ApplyBraking(braking,wheelIndex);
}
else {
return NULL;
}
Py_RETURN_NONE;
}
PyObject* KX_VehicleWrapper::PySetSteeringValue(PyObject* args)
{
float steeringValue;
int wheelIndex;
if (PyArg_ParseTuple(args,"fi:setSteeringValue",&steeringValue,&wheelIndex))
{
m_vehicle->SetSteeringValue(steeringValue,wheelIndex);
}
else {
return NULL;
}
Py_RETURN_NONE;
}
PyObject* KX_VehicleWrapper::PyGetConstraintType(PyObject* args)
{
return PyLong_FromSsize_t(m_vehicle->GetUserConstraintType());
}
//python specific stuff
PyTypeObject KX_VehicleWrapper::Type = {
#if (PY_VERSION_HEX >= 0x02060000)
PyVarObject_HEAD_INIT(NULL, 0)
#else
/* python 2.5 and below */
PyObject_HEAD_INIT( NULL ) /* required py macro */
0, /* ob_size */
#endif
"KX_VehicleWrapper",
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,
&PyObjectPlus::Type,
0,0,0,0,0,0,
py_base_new
};
PyMethodDef KX_VehicleWrapper::Methods[] = {
{"addWheel",(PyCFunction) KX_VehicleWrapper::sPyAddWheel, METH_VARARGS},
{"getNumWheels",(PyCFunction) KX_VehicleWrapper::sPyGetNumWheels, 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},
{"setTyreFriction",(PyCFunction) KX_VehicleWrapper::sPySetTyreFriction, METH_VARARGS},
{"setSuspensionStiffness",(PyCFunction) KX_VehicleWrapper::sPySetSuspensionStiffness, METH_VARARGS},
{"setSuspensionDamping",(PyCFunction) KX_VehicleWrapper::sPySetSuspensionDamping, METH_VARARGS},
{"setSuspensionCompression",(PyCFunction) KX_VehicleWrapper::sPySetSuspensionCompression, METH_VARARGS},
{"setRollInfluence",(PyCFunction) KX_VehicleWrapper::sPySetRollInfluence, METH_VARARGS},
{NULL,NULL} //Sentinel
};
PyAttributeDef KX_VehicleWrapper::Attributes[] = {
{ NULL } //Sentinel
};
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