blender/source/gameengine/Ketsji/KX_RadarSensor.cpp

/**
 * $Id$
 * ***** 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 "PHY_IPhysicsController.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,
			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_VARARGS, (PY_METHODCHAR)GetConeOrigin_doc},
	{"getConeTarget", (PyCFunction) KX_RadarSensor::sPyGetConeTarget, 
	 METH_VARARGS, (PY_METHODCHAR)GetConeTarget_doc},
	{"getConeHeight", (PyCFunction) KX_RadarSensor::sPyGetConeHeight, 
	 METH_VARARGS, (PY_METHODCHAR)GetConeHeight_doc},
	{NULL,NULL,NULL,NULL} //Sentinel
};

PyObject* KX_RadarSensor::_getattr(const STR_String& 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, 
										  PyObject* args, 
										  PyObject* kwds) {
	PyObject *retVal = PyList_New(3);
	
	PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_cone_origin[0]));
	PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_cone_origin[1]));
	PyList_SetItem(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(PyObject* self, 
										  PyObject* args, 
										  PyObject* kwds) {
	PyObject *retVal = PyList_New(3);
	
	PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_cone_target[0]));
	PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_cone_target[1]));
	PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_cone_target[2]));
	
	return retVal;
}

/* 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, 
										  PyObject* args, 
										  PyObject* kwds) {
	return PyFloat_FromDouble(m_coneheight);
}