2002-10-12 11:37:38 +00:00
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/**
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* $Id$
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*
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2008-04-16 22:40:48 +00:00
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* ***** BEGIN GPL LICENSE BLOCK *****
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2002-10-12 11:37:38 +00:00
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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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2008-04-16 22:40:48 +00:00
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* of the License, or (at your option) any later version.
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2002-10-12 11:37:38 +00:00
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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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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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2008-04-16 22:40:48 +00:00
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* ***** END GPL LICENSE BLOCK *****
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2002-10-12 11:37:38 +00:00
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*/
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BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information.
rayCast(to,from,dist,prop,face,xray,poly):
The face paremeter determines the orientation of the normal:
0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside)
1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect)
The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray.
The prop and xray parameters interact as follow:
prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray.
prop off, xray on : idem.
prop on, xray off: return closest hit if it matches prop, no hit otherwise.
prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray.
if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit.
if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element.
The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc.
Attributes (read-only):
matname: The name of polygon material, empty if no material.
material: The material of the polygon
texture: The texture name of the polygon.
matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy
v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex
use this to retrieve vertex proxy from mesh proxy
visible: visible state of the polygon: 1=visible, 0=invisible
collide: collide state of the polygon: 1=receives collision, 0=collision free.
Methods:
getMaterialName(): Returns the polygon material name with MA prefix
getMaterial(): Returns the polygon material
getTextureName(): Returns the polygon texture name
getMaterialIndex(): Returns the material bucket index of the polygon.
getNumVertex(): Returns the number of vertex of the polygon.
isVisible(): Returns whether the polygon is visible or not
isCollider(): Returns whether the polygon is receives collision or not
getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex
getMesh(): Returns a mesh proxy
New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects:
getNumPolygons(): Returns the number of polygon in the mesh.
getPolygon(index): Gets the specified polygon from the mesh.
More details in PyDoc.
2008-08-27 19:34:19 +00:00
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#include <string.h> // memset
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2002-10-12 11:37:38 +00:00
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#include "SumoPhysicsEnvironment.h"
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#include "PHY_IMotionState.h"
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#include "SumoPhysicsController.h"
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#include "SM_Scene.h"
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2005-03-25 10:33:39 +00:00
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#include "SumoPHYCallbackBridge.h"
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#include <SOLID/SOLID.h>
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2002-10-12 11:37:38 +00:00
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SumoPhysicsEnvironment::SumoPhysicsEnvironment()
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{
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2005-03-25 10:33:39 +00:00
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m_fixedTimeStep = 1.f/60.f;
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m_useFixedTimeStep = true;
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m_currentTime = 0.f;
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2002-10-12 11:37:38 +00:00
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m_sumoScene = new SM_Scene();
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}
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SumoPhysicsEnvironment::~SumoPhysicsEnvironment()
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{
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delete m_sumoScene;
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}
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2004-10-16 11:41:50 +00:00
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2004-11-06 04:58:10 +00:00
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void SumoPhysicsEnvironment::beginFrame()
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2004-10-16 11:41:50 +00:00
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{
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2004-11-06 04:58:10 +00:00
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m_sumoScene->beginFrame();
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}
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void SumoPhysicsEnvironment::endFrame()
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{
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m_sumoScene->endFrame();
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}
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2005-03-25 10:33:39 +00:00
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void SumoPhysicsEnvironment::setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
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2004-11-06 04:58:10 +00:00
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{
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2005-03-25 10:33:39 +00:00
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m_useFixedTimeStep = useFixedTimeStep;
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if (m_useFixedTimeStep)
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{
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m_fixedTimeStep = fixedTimeStep;
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} else
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{
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m_fixedTimeStep = 0.f;
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}
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//reset current time ?
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m_currentTime = 0.f;
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}
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float SumoPhysicsEnvironment::getFixedTimeStep()
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{
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return m_fixedTimeStep;
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}
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bool SumoPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
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{
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bool result = false;
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if (m_useFixedTimeStep)
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{
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m_currentTime += timeStep;
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float ticrate = 1.f/m_fixedTimeStep;
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result = m_sumoScene->proceed(curTime, ticrate);
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} else
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{
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m_currentTime += timeStep;
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result = m_sumoScene->proceed(m_currentTime, timeStep);
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}
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return result;
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2002-10-12 11:37:38 +00:00
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}
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void SumoPhysicsEnvironment::setGravity(float x,float y,float z)
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{
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m_sumoScene->setForceField(MT_Vector3(x,y,z));
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}
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2004-04-14 05:57:24 +00:00
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int SumoPhysicsEnvironment::createConstraint(
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class PHY_IPhysicsController* ctrl,
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class PHY_IPhysicsController* ctrl2,
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PHY_ConstraintType type,
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float pivotX,float pivotY,float pivotZ,
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2006-12-16 05:50:38 +00:00
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float axisX,float axisY,float axisZ,
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float axis1X,float axis1Y,float axis1Z,
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2008-10-10 05:12:57 +00:00
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float axis2X,float axis2Y,float axis2Z,
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int flag
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2006-12-16 05:50:38 +00:00
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)
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2002-10-12 11:37:38 +00:00
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{
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int constraintid = 0;
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return constraintid;
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}
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2006-01-15 11:34:55 +00:00
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void SumoPhysicsEnvironment::removeConstraint(int constraintid)
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2002-10-12 11:37:38 +00:00
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{
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if (constraintid)
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{
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}
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}
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BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information.
rayCast(to,from,dist,prop,face,xray,poly):
The face paremeter determines the orientation of the normal:
0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside)
1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect)
The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray.
The prop and xray parameters interact as follow:
prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray.
prop off, xray on : idem.
prop on, xray off: return closest hit if it matches prop, no hit otherwise.
prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray.
if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit.
if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element.
The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc.
Attributes (read-only):
matname: The name of polygon material, empty if no material.
material: The material of the polygon
texture: The texture name of the polygon.
matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy
v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex
use this to retrieve vertex proxy from mesh proxy
visible: visible state of the polygon: 1=visible, 0=invisible
collide: collide state of the polygon: 1=receives collision, 0=collision free.
Methods:
getMaterialName(): Returns the polygon material name with MA prefix
getMaterial(): Returns the polygon material
getTextureName(): Returns the polygon texture name
getMaterialIndex(): Returns the material bucket index of the polygon.
getNumVertex(): Returns the number of vertex of the polygon.
isVisible(): Returns whether the polygon is visible or not
isCollider(): Returns whether the polygon is receives collision or not
getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex
getMesh(): Returns a mesh proxy
New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects:
getNumPolygons(): Returns the number of polygon in the mesh.
getPolygon(index): Gets the specified polygon from the mesh.
More details in PyDoc.
2008-08-27 19:34:19 +00:00
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PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback,
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2004-03-22 22:02:18 +00:00
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float fromX,float fromY,float fromZ,
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BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information.
rayCast(to,from,dist,prop,face,xray,poly):
The face paremeter determines the orientation of the normal:
0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside)
1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect)
The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray.
The prop and xray parameters interact as follow:
prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray.
prop off, xray on : idem.
prop on, xray off: return closest hit if it matches prop, no hit otherwise.
prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray.
if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit.
if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element.
The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc.
Attributes (read-only):
matname: The name of polygon material, empty if no material.
material: The material of the polygon
texture: The texture name of the polygon.
matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy
v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex
use this to retrieve vertex proxy from mesh proxy
visible: visible state of the polygon: 1=visible, 0=invisible
collide: collide state of the polygon: 1=receives collision, 0=collision free.
Methods:
getMaterialName(): Returns the polygon material name with MA prefix
getMaterial(): Returns the polygon material
getTextureName(): Returns the polygon texture name
getMaterialIndex(): Returns the material bucket index of the polygon.
getNumVertex(): Returns the number of vertex of the polygon.
isVisible(): Returns whether the polygon is visible or not
isCollider(): Returns whether the polygon is receives collision or not
getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex
getMesh(): Returns a mesh proxy
New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects:
getNumPolygons(): Returns the number of polygon in the mesh.
getPolygon(index): Gets the specified polygon from the mesh.
More details in PyDoc.
2008-08-27 19:34:19 +00:00
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float toX,float toY,float toZ)
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2002-10-12 11:37:38 +00:00
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{
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BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information.
rayCast(to,from,dist,prop,face,xray,poly):
The face paremeter determines the orientation of the normal:
0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside)
1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect)
The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray.
The prop and xray parameters interact as follow:
prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray.
prop off, xray on : idem.
prop on, xray off: return closest hit if it matches prop, no hit otherwise.
prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray.
if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit.
if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element.
The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc.
Attributes (read-only):
matname: The name of polygon material, empty if no material.
material: The material of the polygon
texture: The texture name of the polygon.
matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy
v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex
use this to retrieve vertex proxy from mesh proxy
visible: visible state of the polygon: 1=visible, 0=invisible
collide: collide state of the polygon: 1=receives collision, 0=collision free.
Methods:
getMaterialName(): Returns the polygon material name with MA prefix
getMaterial(): Returns the polygon material
getTextureName(): Returns the polygon texture name
getMaterialIndex(): Returns the material bucket index of the polygon.
getNumVertex(): Returns the number of vertex of the polygon.
isVisible(): Returns whether the polygon is visible or not
isCollider(): Returns whether the polygon is receives collision or not
getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex
getMesh(): Returns a mesh proxy
New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects:
getNumPolygons(): Returns the number of polygon in the mesh.
getPolygon(index): Gets the specified polygon from the mesh.
More details in PyDoc.
2008-08-27 19:34:19 +00:00
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SumoPhysicsController* ignoreCtr = static_cast<SumoPhysicsController*> (filterCallback.m_ignoreController);
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2005-03-25 10:33:39 +00:00
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2002-10-12 11:37:38 +00:00
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//collision detection / raytesting
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2004-03-22 22:02:18 +00:00
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MT_Point3 hit, normal;
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BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information.
rayCast(to,from,dist,prop,face,xray,poly):
The face paremeter determines the orientation of the normal:
0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside)
1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect)
The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray.
The prop and xray parameters interact as follow:
prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray.
prop off, xray on : idem.
prop on, xray off: return closest hit if it matches prop, no hit otherwise.
prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray.
if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit.
if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element.
The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc.
Attributes (read-only):
matname: The name of polygon material, empty if no material.
material: The material of the polygon
texture: The texture name of the polygon.
matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy
v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex
use this to retrieve vertex proxy from mesh proxy
visible: visible state of the polygon: 1=visible, 0=invisible
collide: collide state of the polygon: 1=receives collision, 0=collision free.
Methods:
getMaterialName(): Returns the polygon material name with MA prefix
getMaterial(): Returns the polygon material
getTextureName(): Returns the polygon texture name
getMaterialIndex(): Returns the material bucket index of the polygon.
getNumVertex(): Returns the number of vertex of the polygon.
isVisible(): Returns whether the polygon is visible or not
isCollider(): Returns whether the polygon is receives collision or not
getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex
getMesh(): Returns a mesh proxy
New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects:
getNumPolygons(): Returns the number of polygon in the mesh.
getPolygon(index): Gets the specified polygon from the mesh.
More details in PyDoc.
2008-08-27 19:34:19 +00:00
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PHY_RayCastResult result;
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2005-03-25 10:33:39 +00:00
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SM_Object* sm_ignore = 0;
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if (ignoreCtr)
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sm_ignore = ignoreCtr->GetSumoObject();
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BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information.
rayCast(to,from,dist,prop,face,xray,poly):
The face paremeter determines the orientation of the normal:
0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside)
1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect)
The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray.
The prop and xray parameters interact as follow:
prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray.
prop off, xray on : idem.
prop on, xray off: return closest hit if it matches prop, no hit otherwise.
prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray.
if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit.
if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element.
The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc.
Attributes (read-only):
matname: The name of polygon material, empty if no material.
material: The material of the polygon
texture: The texture name of the polygon.
matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy
v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex
use this to retrieve vertex proxy from mesh proxy
visible: visible state of the polygon: 1=visible, 0=invisible
collide: collide state of the polygon: 1=receives collision, 0=collision free.
Methods:
getMaterialName(): Returns the polygon material name with MA prefix
getMaterial(): Returns the polygon material
getTextureName(): Returns the polygon texture name
getMaterialIndex(): Returns the material bucket index of the polygon.
getNumVertex(): Returns the number of vertex of the polygon.
isVisible(): Returns whether the polygon is visible or not
isCollider(): Returns whether the polygon is receives collision or not
getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex
getMesh(): Returns a mesh proxy
New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects:
getNumPolygons(): Returns the number of polygon in the mesh.
getPolygon(index): Gets the specified polygon from the mesh.
More details in PyDoc.
2008-08-27 19:34:19 +00:00
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memset(&result, 0, sizeof(result));
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2005-03-25 10:33:39 +00:00
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SM_Object* smOb = m_sumoScene->rayTest(sm_ignore,MT_Point3(fromX, fromY, fromZ),MT_Point3(toX, toY, toZ), hit, normal);
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if (smOb)
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{
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BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information.
rayCast(to,from,dist,prop,face,xray,poly):
The face paremeter determines the orientation of the normal:
0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside)
1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect)
The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray.
The prop and xray parameters interact as follow:
prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray.
prop off, xray on : idem.
prop on, xray off: return closest hit if it matches prop, no hit otherwise.
prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray.
if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit.
if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element.
The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc.
Attributes (read-only):
matname: The name of polygon material, empty if no material.
material: The material of the polygon
texture: The texture name of the polygon.
matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy
v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex
use this to retrieve vertex proxy from mesh proxy
visible: visible state of the polygon: 1=visible, 0=invisible
collide: collide state of the polygon: 1=receives collision, 0=collision free.
Methods:
getMaterialName(): Returns the polygon material name with MA prefix
getMaterial(): Returns the polygon material
getTextureName(): Returns the polygon texture name
getMaterialIndex(): Returns the material bucket index of the polygon.
getNumVertex(): Returns the number of vertex of the polygon.
isVisible(): Returns whether the polygon is visible or not
isCollider(): Returns whether the polygon is receives collision or not
getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex
getMesh(): Returns a mesh proxy
New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects:
getNumPolygons(): Returns the number of polygon in the mesh.
getPolygon(index): Gets the specified polygon from the mesh.
More details in PyDoc.
2008-08-27 19:34:19 +00:00
|
|
|
result.m_controller = (PHY_IPhysicsController *) smOb->getPhysicsClientObject();
|
|
|
|
result.m_hitPoint[0] = hit[0];
|
|
|
|
result.m_hitPoint[1] = hit[1];
|
|
|
|
result.m_hitPoint[2] = hit[2];
|
|
|
|
result.m_hitNormal[0] = normal[0];
|
|
|
|
result.m_hitNormal[1] = normal[1];
|
|
|
|
result.m_hitNormal[2] = normal[2];
|
|
|
|
filterCallback.reportHit(&result);
|
2005-03-25 10:33:39 +00:00
|
|
|
}
|
BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information.
rayCast(to,from,dist,prop,face,xray,poly):
The face paremeter determines the orientation of the normal:
0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside)
1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect)
The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray.
The prop and xray parameters interact as follow:
prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray.
prop off, xray on : idem.
prop on, xray off: return closest hit if it matches prop, no hit otherwise.
prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray.
if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit.
if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element.
The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc.
Attributes (read-only):
matname: The name of polygon material, empty if no material.
material: The material of the polygon
texture: The texture name of the polygon.
matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy
v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex
use this to retrieve vertex proxy from mesh proxy
visible: visible state of the polygon: 1=visible, 0=invisible
collide: collide state of the polygon: 1=receives collision, 0=collision free.
Methods:
getMaterialName(): Returns the polygon material name with MA prefix
getMaterial(): Returns the polygon material
getTextureName(): Returns the polygon texture name
getMaterialIndex(): Returns the material bucket index of the polygon.
getNumVertex(): Returns the number of vertex of the polygon.
isVisible(): Returns whether the polygon is visible or not
isCollider(): Returns whether the polygon is receives collision or not
getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex
getMesh(): Returns a mesh proxy
New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects:
getNumPolygons(): Returns the number of polygon in the mesh.
getPolygon(index): Gets the specified polygon from the mesh.
More details in PyDoc.
2008-08-27 19:34:19 +00:00
|
|
|
return result.m_controller;
|
2002-10-12 11:37:38 +00:00
|
|
|
}
|
2005-03-25 10:33:39 +00:00
|
|
|
//gamelogic callbacks
|
|
|
|
void SumoPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
|
|
|
|
{
|
|
|
|
SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl);
|
|
|
|
SM_Object* smObject = smctrl->GetSumoObject();
|
|
|
|
assert(smObject);
|
|
|
|
if (smObject)
|
|
|
|
{
|
|
|
|
m_sumoScene->addSensor(*smObject);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
void SumoPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
|
|
|
|
{
|
|
|
|
SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl);
|
|
|
|
SM_Object* smObject = smctrl->GetSumoObject();
|
|
|
|
assert(smObject);
|
|
|
|
if (smObject)
|
|
|
|
{
|
|
|
|
m_sumoScene->remove(*smObject);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void SumoPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
|
|
|
|
{
|
|
|
|
|
|
|
|
int sumoRespClass = 0;
|
|
|
|
|
|
|
|
//map PHY_ convention into SM_ convention
|
|
|
|
switch (response_class)
|
|
|
|
{
|
|
|
|
case PHY_FH_RESPONSE:
|
|
|
|
sumoRespClass = FH_RESPONSE;
|
|
|
|
break;
|
|
|
|
case PHY_SENSOR_RESPONSE:
|
|
|
|
sumoRespClass = SENSOR_RESPONSE;
|
|
|
|
break;
|
|
|
|
case PHY_CAMERA_RESPONSE:
|
|
|
|
sumoRespClass =CAMERA_RESPONSE;
|
|
|
|
break;
|
|
|
|
case PHY_OBJECT_RESPONSE:
|
|
|
|
sumoRespClass = OBJECT_RESPONSE;
|
|
|
|
break;
|
|
|
|
case PHY_STATIC_RESPONSE:
|
|
|
|
sumoRespClass = PHY_STATIC_RESPONSE;
|
|
|
|
break;
|
2008-03-01 19:17:37 +00:00
|
|
|
case PHY_BROADPH_RESPONSE:
|
|
|
|
return;
|
2005-03-25 10:33:39 +00:00
|
|
|
default:
|
|
|
|
assert(0);
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
SumoPHYCallbackBridge* bridge = new SumoPHYCallbackBridge(user,callback);
|
|
|
|
|
|
|
|
m_sumoScene->addTouchCallback(sumoRespClass,SumoPHYCallbackBridge::StaticSolidToPHYCallback,bridge);
|
|
|
|
}
|
|
|
|
void SumoPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
|
|
|
|
{
|
|
|
|
SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl);
|
|
|
|
MT_assert(smctrl);
|
|
|
|
SM_Object* smObject = smctrl->GetSumoObject();
|
|
|
|
MT_assert(smObject);
|
|
|
|
if (smObject)
|
|
|
|
{
|
|
|
|
//assert(smObject->getPhysicsClientObject() == ctrl);
|
|
|
|
smObject->setPhysicsClientObject(ctrl);
|
|
|
|
|
|
|
|
m_sumoScene->requestCollisionCallback(*smObject);
|
|
|
|
}
|
|
|
|
}
|
2008-07-30 17:41:47 +00:00
|
|
|
|
|
|
|
void SumoPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
|
|
|
|
{
|
|
|
|
// intentionally empty
|
|
|
|
}
|
|
|
|
|
2005-03-25 10:33:39 +00:00
|
|
|
PHY_IPhysicsController* SumoPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position)
|
|
|
|
{
|
|
|
|
DT_ShapeHandle shape = DT_NewSphere(0.0);
|
|
|
|
SM_Object* ob = new SM_Object(shape,0,0,0);
|
|
|
|
ob->setPosition(MT_Point3(position));
|
|
|
|
//testing
|
|
|
|
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
|
|
|
|
ob->setOrientation(rotquatje);
|
|
|
|
|
|
|
|
PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
|
|
|
|
ctrl->SetMargin(radius);
|
|
|
|
return ctrl;
|
|
|
|
}
|
|
|
|
PHY_IPhysicsController* SumoPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
|
|
|
|
{
|
|
|
|
DT_ShapeHandle shape = DT_NewCone(coneradius,coneheight);
|
|
|
|
SM_Object* ob = new SM_Object(shape,0,0,0);
|
|
|
|
ob->setPosition(MT_Point3(0.f,0.f,0.f));
|
|
|
|
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
|
|
|
|
ob->setOrientation(rotquatje);
|
|
|
|
|
|
|
|
PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
|
|
|
|
|
|
|
|
return ctrl;
|
|
|
|
}
|
2002-10-12 11:37:38 +00:00
|
|
|
|