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blender/source/gameengine/Ketsji/KX_RaySensor.cpp

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/**
* Cast a ray and feel for objects
*
* $Id$
*
* ***** BEGIN GPL/BL DUAL 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. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* 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/BL DUAL LICENSE BLOCK *****
*/
#include "KX_RaySensor.h"
#include "SCA_EventManager.h"
#include "SCA_RandomEventManager.h"
#include "SCA_LogicManager.h"
#include "SCA_IObject.h"
#include "KX_ClientObjectInfo.h"
#include "KX_GameObject.h"
#include "KX_Scene.h"
#include "SumoPhysicsEnvironment.h"
#include "KX_SumoPhysicsController.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
KX_RaySensor::KX_RaySensor(class SCA_EventManager* eventmgr,
SCA_IObject* gameobj,
const STR_String& propname,
bool bFindMaterial,
double distance,
int axis,
KX_Scene* ketsjiScene,
PyTypeObject* T)
: SCA_ISensor(gameobj,eventmgr, T),
m_propertyname(propname),
m_bFindMaterial(bFindMaterial),
m_distance(distance),
m_scene(ketsjiScene),
m_bTriggered(false),
m_axis(axis),
m_rayHit(false),
m_hitObject(NULL)
{
}
KX_RaySensor::~KX_RaySensor()
{
/* Nothing to be done here. */
}
CValue* KX_RaySensor::GetReplica()
{
CValue* replica = new KX_RaySensor(*this);
// this will copy properties and so on...
CValue::AddDataToReplica(replica);
return replica;
}
bool KX_RaySensor::IsPositiveTrigger()
{
bool result = m_rayHit;
if (m_invert)
result = !result;
return result;
}
bool KX_RaySensor::Evaluate(CValue* event)
{
bool result = false;
m_rayHit = false;
m_hitObject = NULL;
m_hitPosition = MT_Vector3(0,0,0);
m_hitNormal = MT_Vector3(1,0,0);
KX_GameObject* obj = (KX_GameObject*)GetParent();
MT_Point3 frompoint = obj->NodeGetWorldPosition();
MT_Matrix3x3 matje = obj->NodeGetWorldOrientation();
MT_Matrix3x3 invmat = matje.inverse();
MT_Vector3 todir;
switch (m_axis)
{
case 1: // X
{
todir[0] = invmat[0][0];
todir[1] = invmat[0][1];
todir[2] = invmat[0][2];
break;
}
case 0: // Y
{
todir[0] = invmat[1][0];
todir[1] = invmat[1][1];
todir[2] = invmat[1][2];
break;
}
case 2: // Z
{
todir[0] = invmat[2][0];
todir[1] = invmat[2][1];
todir[2] = invmat[2][2];
break;
}
case 3: // -X
{
todir[0] = -invmat[0][0];
todir[1] = -invmat[0][1];
todir[2] = -invmat[0][2];
break;
}
case 4: // -Y
{
todir[0] = -invmat[1][0];
todir[1] = -invmat[1][1];
todir[2] = -invmat[1][2];
break;
}
case 5: // -Z
{
todir[0] = -invmat[2][0];
todir[1] = -invmat[2][1];
todir[2] = -invmat[2][2];
break;
}
}
todir.normalize();
m_rayDirection = todir;
MT_Point3 topoint = frompoint + (m_distance) * todir;
MT_Point3 resultpoint;
MT_Vector3 resultnormal;
bool ready = false;
SumoPhysicsEnvironment *spe = dynamic_cast<SumoPhysicsEnvironment *>(m_scene->GetPhysicsEnvironment());
if (!spe)
{
std::cout << "WARNING: Ray sensor " << GetName() << ": There is no physics environment!" << std::endl;
std::cout << " Check universe for malfunction." << std::endl;
return false;
}
SM_Scene *scene = spe->GetSumoScene();
KX_SumoPhysicsController *spc = dynamic_cast<KX_SumoPhysicsController *>(obj->GetPhysicsController());
KX_GameObject *parent = obj->GetParent();
if (!spc && parent)
spc = dynamic_cast<KX_SumoPhysicsController *>(parent->GetPhysicsController());
if (parent)
parent->Release();
SM_Object *thisObj = spc?spc->GetSumoObject():NULL;
do {
SM_Object* hitObj = scene->rayTest(thisObj,
frompoint,
topoint,
resultpoint,
resultnormal);
if (hitObj)
{
KX_ClientObjectInfo* info = (KX_ClientObjectInfo*)hitObj->getClientObject();
bool bFound = false;
if (!info)
{
std::cout<< "WARNING: Ray sensor " << GetName() << " cannot sense SM_Object " << hitObj << " - no client info.\n" << std::endl;
ready = true;
break;
}
SCA_IObject *hitgameobj = (SCA_IObject*)info->m_clientobject;
if (hitgameobj == obj || info->m_type > KX_ClientObjectInfo::ACTOR)
{
// false hit
KX_SumoPhysicsController *hitspc = dynamic_cast<KX_SumoPhysicsController *> (static_cast<KX_GameObject*> (hitgameobj) ->GetPhysicsController());
if (hitspc)
{
/* We add 0.01 of fudge, so that if the margin && radius == 0., we don't endless loop. */
MT_Scalar marg = 0.01 + hitspc->GetSumoObject()->getMargin();
if (hitspc->GetSumoObject()->getShapeProps())
{
marg += 2*hitspc->GetSumoObject()->getShapeProps()->m_radius;
}
/* Calculate the other side of this object */
MT_Point3 hitObjPos;
hitspc->GetWorldPosition(hitObjPos);
MT_Vector3 hitvector = hitObjPos - resultpoint;
if (hitvector.dot(hitvector) > MT_EPSILON)
{
hitvector.normalize();
marg *= 2.*todir.dot(hitvector);
}
frompoint = resultpoint + marg * todir;
} else {
ready = true;
}
}
else
{
ready = true;
if (m_propertyname.Length() == 0)
{
bFound = true;
}
else
{
if (m_bFindMaterial)
{
if (info->m_auxilary_info)
{
bFound = (m_propertyname== ((char*)info->m_auxilary_info));
}
}
else
{
bFound = hitgameobj->GetProperty(m_propertyname) != NULL;
}
}
if (bFound)
{
m_rayHit = true;
m_hitObject = hitgameobj;
m_hitPosition = resultpoint;
m_hitNormal = resultnormal;
}
}
}
else
{
ready = true;
}
}
while (!ready);
/* now pass this result to some controller */
if (m_rayHit)
{
if (!m_bTriggered)
{
// notify logicsystem that ray is now hitting
result = true;
m_bTriggered = true;
}
else
{
}
}
else
{
if (m_bTriggered)
{
m_bTriggered = false;
// notify logicsystem that ray is not hitting anymore
result = true;
}
}
return result;
}
/* ------------------------------------------------------------------------- */
/* Python functions */
/* ------------------------------------------------------------------------- */
/* Integration hooks ------------------------------------------------------- */
PyTypeObject KX_RaySensor::Type = {
PyObject_HEAD_INIT(&PyType_Type)
0,
"KX_RaySensor",
sizeof(KX_RaySensor),
0,
PyDestructor,
0,
__getattr,
__setattr,
0, //&MyPyCompare,
__repr,
0, //&cvalue_as_number,
0,
0,
0,
0
};
PyParentObject KX_RaySensor::Parents[] = {
&KX_RaySensor::Type,
&SCA_ISensor::Type,
&SCA_ILogicBrick::Type,
&CValue::Type,
NULL
};
PyMethodDef KX_RaySensor::Methods[] = {
{"getHitObject",(PyCFunction) KX_RaySensor::sPyGetHitObject,METH_VARARGS, GetHitObject_doc},
{"getHitPosition",(PyCFunction) KX_RaySensor::sPyGetHitPosition,METH_VARARGS, GetHitPosition_doc},
{"getHitNormal",(PyCFunction) KX_RaySensor::sPyGetHitNormal,METH_VARARGS, GetHitNormal_doc},
{"getRayDirection",(PyCFunction) KX_RaySensor::sPyGetRayDirection,METH_VARARGS, GetRayDirection_doc},
{NULL,NULL} //Sentinel
};
char KX_RaySensor::GetHitObject_doc[] =
"getHitObject()\n"
"\tReturns the name of the object that was hit by this ray.\n";
PyObject* KX_RaySensor::PyGetHitObject(PyObject* self,
PyObject* args,
PyObject* kwds)
{
if (m_hitObject)
{
return m_hitObject->AddRef();
}
Py_Return;
}
char KX_RaySensor::GetHitPosition_doc[] =
"getHitPosition()\n"
"\tReturns the position (in worldcoordinates) where the object was hit by this ray.\n";
PyObject* KX_RaySensor::PyGetHitPosition(PyObject* self,
PyObject* args,
PyObject* kwds)
{
MT_Point3 pos = m_hitPosition;
PyObject* resultlist = PyList_New(3);
int index;
for (index=0;index<3;index++)
{
PyList_SetItem(resultlist,index,PyFloat_FromDouble(pos[index]));
}
return resultlist;
}
char KX_RaySensor::GetRayDirection_doc[] =
"getRayDirection()\n"
"\tReturns the direction from the ray (in worldcoordinates) .\n";
PyObject* KX_RaySensor::PyGetRayDirection(PyObject* self,
PyObject* args,
PyObject* kwds)
{
MT_Vector3 dir = m_rayDirection;
PyObject* resultlist = PyList_New(3);
int index;
for (index=0;index<3;index++)
{
PyList_SetItem(resultlist,index,PyFloat_FromDouble(dir[index]));
}
return resultlist;
}
char KX_RaySensor::GetHitNormal_doc[] =
"getHitNormal()\n"
"\tReturns the normal (in worldcoordinates) of the object at the location where the object was hit by this ray.\n";
PyObject* KX_RaySensor::PyGetHitNormal(PyObject* self,
PyObject* args,
PyObject* kwds)
{
MT_Vector3 pos = m_hitNormal;
PyObject* resultlist = PyList_New(3);
int index;
for (index=0;index<3;index++)
{
PyList_SetItem(resultlist,index,PyFloat_FromDouble(pos[index]));
}
return resultlist;
}
PyObject* KX_RaySensor::_getattr(const STR_String& attr) {
_getattr_up(SCA_ISensor);
}
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