forked from bartvdbraak/blender
4ae4ecd3ce
First batch of optimizaton of the bullet adaptation layer in the BGE. - remove circular motion state update. - optimization of physic adaptation layer for bullet: bypass unecessary conversion of rotation matrix to quaternion and back. - remove double updates during object replication.
280 lines
7.5 KiB
C++
280 lines
7.5 KiB
C++
/**
|
|
* $Id$
|
|
* ***** 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, GetConeOrigin_doc},
|
|
{"getConeTarget", (PyCFunction) KX_RadarSensor::sPyGetConeTarget,
|
|
METH_VARARGS, GetConeTarget_doc},
|
|
{"getConeHeight", (PyCFunction) KX_RadarSensor::sPyGetConeHeight,
|
|
METH_VARARGS, GetConeHeight_doc},
|
|
{NULL,NULL,NULL,NULL} //Sentinel
|
|
};
|
|
|
|
PyObject* KX_RadarSensor::_getattr(const STR_String& attr) {
|
|
_getattr_up(KX_TouchSensor);
|
|
}
|
|
|
|
/* getConeOrigin */
|
|
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 */
|
|
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 */
|
|
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);
|
|
}
|
|
|
|
|