374 lines
8.4 KiB
C++
374 lines
8.4 KiB
C++
/*
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* Cast a ray and feel for objects
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*
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*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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/** \file gameengine/Ketsji/KX_RaySensor.cpp
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* \ingroup ketsji
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*/
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#include "KX_RaySensor.h"
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#include "SCA_EventManager.h"
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#include "SCA_RandomEventManager.h"
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#include "SCA_LogicManager.h"
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#include "SCA_IObject.h"
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#include "KX_ClientObjectInfo.h"
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#include "KX_GameObject.h"
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#include "KX_Scene.h"
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#include "KX_RayCast.h"
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#include "KX_PyMath.h"
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#include "PHY_IPhysicsEnvironment.h"
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#include "KX_IPhysicsController.h"
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#include "PHY_IPhysicsController.h"
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#include "DNA_sensor_types.h"
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#include <stdio.h>
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KX_RaySensor::KX_RaySensor(class SCA_EventManager* eventmgr,
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SCA_IObject* gameobj,
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const STR_String& propname,
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bool bFindMaterial,
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bool bXRay,
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double distance,
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int axis,
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KX_Scene* ketsjiScene)
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: SCA_ISensor(gameobj,eventmgr),
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m_propertyname(propname),
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m_bFindMaterial(bFindMaterial),
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m_bXRay(bXRay),
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m_distance(distance),
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m_scene(ketsjiScene),
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m_axis(axis)
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{
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Init();
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}
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void KX_RaySensor::Init()
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{
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m_bTriggered = (m_invert)?true:false;
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m_rayHit = false;
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m_hitObject = NULL;
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m_reset = true;
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}
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KX_RaySensor::~KX_RaySensor()
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{
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/* Nothing to be done here. */
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}
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CValue* KX_RaySensor::GetReplica()
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{
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KX_RaySensor* replica = new KX_RaySensor(*this);
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replica->ProcessReplica();
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replica->Init();
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return replica;
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}
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bool KX_RaySensor::IsPositiveTrigger()
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{
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bool result = m_rayHit;
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if (m_invert)
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result = !result;
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return result;
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}
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bool KX_RaySensor::RayHit(KX_ClientObjectInfo* client, KX_RayCast* result, void * const data)
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{
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KX_GameObject* hitKXObj = client->m_gameobject;
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bool bFound = false;
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if (m_propertyname.Length() == 0)
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{
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bFound = true;
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}
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else
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{
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if (m_bFindMaterial)
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{
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if (client->m_auxilary_info)
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{
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bFound = (m_propertyname== ((char*)client->m_auxilary_info));
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}
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}
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else
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{
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bFound = hitKXObj->GetProperty(m_propertyname) != NULL;
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}
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}
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if (bFound)
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{
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m_rayHit = true;
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m_hitObject = hitKXObj;
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m_hitPosition[0] = result->m_hitPoint[0];
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m_hitPosition[1] = result->m_hitPoint[1];
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m_hitPosition[2] = result->m_hitPoint[2];
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m_hitNormal[0] = result->m_hitNormal[0];
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m_hitNormal[1] = result->m_hitNormal[1];
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m_hitNormal[2] = result->m_hitNormal[2];
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}
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// no multi-hit search yet
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return true;
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}
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/* this function is used to pre-filter the object before casting the ray on them.
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This is useful for "X-Ray" option when we want to see "through" unwanted object.
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*/
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bool KX_RaySensor::NeedRayCast(KX_ClientObjectInfo* client)
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{
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if (client->m_type > KX_ClientObjectInfo::ACTOR)
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{
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// Unknown type of object, skip it.
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// Should not occur as the sensor objects are filtered in RayTest()
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printf("Invalid client type %d found ray casting\n", client->m_type);
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return false;
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}
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if (m_bXRay && m_propertyname.Length() != 0)
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{
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if (m_bFindMaterial)
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{
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// not quite correct: an object may have multiple material
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// should check all the material and not only the first one
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if (!client->m_auxilary_info || (m_propertyname != ((char*)client->m_auxilary_info)))
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return false;
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}
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else
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{
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if (client->m_gameobject->GetProperty(m_propertyname) == NULL)
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return false;
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}
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}
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return true;
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}
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bool KX_RaySensor::Evaluate()
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{
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bool result = false;
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bool reset = m_reset && m_level;
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m_rayHit = false;
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m_hitObject = NULL;
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m_hitPosition[0] = 0;
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m_hitPosition[1] = 0;
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m_hitPosition[2] = 0;
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m_hitNormal[0] = 1;
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m_hitNormal[1] = 0;
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m_hitNormal[2] = 0;
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KX_GameObject* obj = (KX_GameObject*)GetParent();
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MT_Point3 frompoint = obj->NodeGetWorldPosition();
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MT_Matrix3x3 matje = obj->NodeGetWorldOrientation();
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MT_Matrix3x3 invmat = matje.inverse();
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MT_Vector3 todir;
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m_reset = false;
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switch (m_axis)
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{
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case SENS_RAY_X_AXIS: // X
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{
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todir[0] = invmat[0][0];
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todir[1] = invmat[0][1];
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todir[2] = invmat[0][2];
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break;
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}
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case SENS_RAY_Y_AXIS: // Y
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{
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todir[0] = invmat[1][0];
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todir[1] = invmat[1][1];
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todir[2] = invmat[1][2];
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break;
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}
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case SENS_RAY_Z_AXIS: // Z
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{
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todir[0] = invmat[2][0];
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todir[1] = invmat[2][1];
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todir[2] = invmat[2][2];
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break;
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}
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case SENS_RAY_NEG_X_AXIS: // -X
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{
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todir[0] = -invmat[0][0];
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todir[1] = -invmat[0][1];
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todir[2] = -invmat[0][2];
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break;
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}
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case SENS_RAY_NEG_Y_AXIS: // -Y
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{
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todir[0] = -invmat[1][0];
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todir[1] = -invmat[1][1];
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todir[2] = -invmat[1][2];
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break;
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}
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case SENS_RAY_NEG_Z_AXIS: // -Z
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{
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todir[0] = -invmat[2][0];
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todir[1] = -invmat[2][1];
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todir[2] = -invmat[2][2];
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break;
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}
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}
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todir.normalize();
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m_rayDirection[0] = todir[0];
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m_rayDirection[1] = todir[1];
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m_rayDirection[2] = todir[2];
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MT_Point3 topoint = frompoint + (m_distance) * todir;
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PHY_IPhysicsEnvironment* pe = m_scene->GetPhysicsEnvironment();
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if (!pe)
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{
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std::cout << "WARNING: Ray sensor " << GetName() << ": There is no physics environment!" << std::endl;
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std::cout << " Check universe for malfunction." << std::endl;
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return false;
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}
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KX_IPhysicsController *spc = obj->GetPhysicsController();
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KX_GameObject *parent = obj->GetParent();
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if (!spc && parent)
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spc = parent->GetPhysicsController();
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if (parent)
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parent->Release();
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PHY_IPhysicsEnvironment* physics_environment = this->m_scene->GetPhysicsEnvironment();
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KX_RayCast::Callback<KX_RaySensor> callback(this, spc);
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KX_RayCast::RayTest(physics_environment, frompoint, topoint, callback);
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/* now pass this result to some controller */
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if (m_rayHit)
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{
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if (!m_bTriggered)
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{
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// notify logicsystem that ray is now hitting
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result = true;
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m_bTriggered = true;
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}
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else
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{
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// notify logicsystem that ray is STILL hitting ...
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result = false;
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}
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}
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else
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{
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if (m_bTriggered)
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{
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m_bTriggered = false;
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// notify logicsystem that ray JUST left the Object
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result = true;
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}
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else
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{
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result = false;
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}
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}
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if (reset)
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// force an event
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result = true;
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return result;
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}
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#ifdef WITH_PYTHON
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/* ------------------------------------------------------------------------- */
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/* Python functions */
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/* ------------------------------------------------------------------------- */
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/* Integration hooks ------------------------------------------------------- */
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PyTypeObject KX_RaySensor::Type = {
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PyVarObject_HEAD_INIT(NULL, 0)
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"KX_RaySensor",
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sizeof(PyObjectPlus_Proxy),
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0,
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py_base_dealloc,
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0,
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0,
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0,
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0,
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py_base_repr,
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0,0,0,0,0,0,0,0,0,
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Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
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0,0,0,0,0,0,0,
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Methods,
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0,
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0,
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&SCA_ISensor::Type,
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0,0,0,0,0,0,
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py_base_new
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};
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PyMethodDef KX_RaySensor::Methods[] = {
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{NULL,NULL} //Sentinel
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};
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PyAttributeDef KX_RaySensor::Attributes[] = {
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KX_PYATTRIBUTE_BOOL_RW("useMaterial", KX_RaySensor, m_bFindMaterial),
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KX_PYATTRIBUTE_BOOL_RW("useXRay", KX_RaySensor, m_bXRay),
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KX_PYATTRIBUTE_FLOAT_RW("range", 0, 10000, KX_RaySensor, m_distance),
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KX_PYATTRIBUTE_STRING_RW("propName", 0, 100, false, KX_RaySensor, m_propertyname),
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KX_PYATTRIBUTE_INT_RW("axis", 0, 5, true, KX_RaySensor, m_axis),
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KX_PYATTRIBUTE_FLOAT_ARRAY_RO("hitPosition", KX_RaySensor, m_hitPosition, 3),
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KX_PYATTRIBUTE_FLOAT_ARRAY_RO("rayDirection", KX_RaySensor, m_rayDirection, 3),
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KX_PYATTRIBUTE_FLOAT_ARRAY_RO("hitNormal", KX_RaySensor, m_hitNormal, 3),
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KX_PYATTRIBUTE_RO_FUNCTION("hitObject", KX_RaySensor, pyattr_get_hitobject),
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{ NULL } //Sentinel
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};
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PyObject* KX_RaySensor::pyattr_get_hitobject(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
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{
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KX_RaySensor* self = static_cast<KX_RaySensor*>(self_v);
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if (self->m_hitObject)
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return self->m_hitObject->GetProxy();
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Py_RETURN_NONE;
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}
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#endif // WITH_PYTHON
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