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60d099648c
blender/source/gameengine/Ketsji/KX_GameObject.cpp
Campbell Barton 60d099648c added a factor argument for aligning to vector, this isn't correct since it does linear interpolation of the vector and renormalizes. 
(can be improved to rotate correctly but for our  use ist ok for now, would also be useful to have an argument to clamp the maximum rotation angle to get a constant rotation speed),

This will used to make franky upright when falling from an angle, to track to a surface when hanging onto a ledge and setting the glide pitch.
Without this rotation is instant and jerky.

currently this is done with Mathutils which isnt available in Blender Player.

def do_rotate_up(own):
	own.alignAxisToVect([0,0,1], 2, 0.1)

replaces...

def do_rotate_up(own):
	up_nor = Vector(0,0,1)
	own_mat = Matrix(*own.getOrientation()).transpose()
	own_up = up_nor * own_mat
	ang = AngleBetweenVecs(own_up, up_nor)
	if ang > 0.005:
		# Set orientation
		cross = CrossVecs(own_up, up_nor)
		new_mat = own_mat * RotationMatrix(ang*0.1, 3, 'r', cross)
		own.setOrientation(new_mat.transpose())


M    source/gameengine/Ketsji/KX_GameObject.cpp
M    source/gameengine/Ketsji/KX_GameObject.h
2008-07-09 09:21:52 +00:00

1662 lines
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/**
* $Id$
*
* ***** 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 *****
* Game object wrapper
*/
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
#if defined(_WIN64)
typedef unsigned __int64 uint_ptr;
#else
typedef unsigned long uint_ptr;
#endif
#ifdef WIN32
// This warning tells us about truncation of __long__ stl-generated names.
// It can occasionally cause DevStudio to have internal compiler warnings.
#pragma warning( disable : 4786 )
#endif
#define KX_INERTIA_INFINITE 10000
#include "RAS_IPolygonMaterial.h"
#include "KX_BlenderMaterial.h"
#include "KX_GameObject.h"
#include "RAS_MeshObject.h"
#include "KX_MeshProxy.h"
#include <stdio.h> // printf
#include "SG_Controller.h"
#include "KX_IPhysicsController.h"
#include "SG_Node.h"
#include "SG_Controller.h"
#include "KX_ClientObjectInfo.h"
#include "RAS_BucketManager.h"
#include "KX_RayCast.h"
#include "KX_PythonInit.h"
#include "KX_PyMath.h"
// This file defines relationships between parents and children
// in the game engine.
#include "KX_SG_NodeRelationships.h"
KX_GameObject::KX_GameObject(
void* sgReplicationInfo,
SG_Callbacks callbacks,
PyTypeObject* T
) :
SCA_IObject(T),
m_bDyna(false),
m_layer(0),
m_bSuspendDynamics(false),
m_bUseObjectColor(false),
m_bIsNegativeScaling(false),
m_pBlenderObject(NULL),
m_bVisible(true),
m_pPhysicsController1(NULL),
m_pPhysicsEnvironment(NULL),
m_pHitObject(NULL),
m_isDeformable(false)
{
m_ignore_activity_culling = false;
m_pClient_info = new KX_ClientObjectInfo(this, KX_ClientObjectInfo::ACTOR);
m_pSGNode = new SG_Node(this,sgReplicationInfo,callbacks);
// define the relationship between this node and it's parent.
KX_NormalParentRelation * parent_relation =
KX_NormalParentRelation::New();
m_pSGNode->SetParentRelation(parent_relation);
};
KX_GameObject::~KX_GameObject()
{
// is this delete somewhere ?
//if (m_sumoObj)
// delete m_sumoObj;
delete m_pClient_info;
//if (m_pSGNode)
// delete m_pSGNode;
if (m_pSGNode)
{
// must go through controllers and make sure they will not use us anymore
// This is important for KX_BulletPhysicsControllers that unregister themselves
// from the object when they are deleted.
SGControllerList::iterator contit;
SGControllerList& controllers = m_pSGNode->GetSGControllerList();
for (contit = controllers.begin();contit!=controllers.end();++contit)
{
(*contit)->ClearObject();
}
m_pSGNode->SetSGClientObject(NULL);
}
}
CValue* KX_GameObject:: Calc(VALUE_OPERATOR op, CValue *val)
{
return NULL;
}
CValue* KX_GameObject::CalcFinal(VALUE_DATA_TYPE dtype, VALUE_OPERATOR op, CValue *val)
{
return NULL;
}
const STR_String & KX_GameObject::GetText()
{
return m_text;
}
float KX_GameObject::GetNumber()
{
return 0;
}
STR_String KX_GameObject::GetName()
{
return m_name;
}
void KX_GameObject::SetName(STR_String name)
{
m_name = name;
}; // Set the name of the value
void KX_GameObject::ReplicaSetName(STR_String name)
{
}
KX_IPhysicsController* KX_GameObject::GetPhysicsController()
{
return m_pPhysicsController1;
}
KX_GameObject* KX_GameObject::GetParent()
{
KX_GameObject* result = NULL;
SG_Node* node = m_pSGNode;
while (node && !result)
{
node = node->GetSGParent();
if (node)
result = (KX_GameObject*)node->GetSGClientObject();
}
if (result)
result->AddRef();
return result;
}
void KX_GameObject::SetParent(KX_Scene *scene, KX_GameObject* obj)
{
if (obj && GetSGNode()->GetSGParent() != obj->GetSGNode())
{
// Make sure the objects have some scale
MT_Vector3 scale1 = NodeGetWorldScaling();
MT_Vector3 scale2 = obj->NodeGetWorldScaling();
if (fabs(scale2[0]) < FLT_EPSILON ||
fabs(scale2[1]) < FLT_EPSILON ||
fabs(scale2[2]) < FLT_EPSILON ||
fabs(scale1[0]) < FLT_EPSILON ||
fabs(scale1[1]) < FLT_EPSILON ||
fabs(scale1[2]) < FLT_EPSILON) { return; }
// Remove us from our old parent and set our new parent
RemoveParent(scene);
obj->GetSGNode()->AddChild(GetSGNode());
// Set us to our new scale, position, and orientation
scale1[0] = scale1[0]/scale2[0];
scale1[1] = scale1[1]/scale2[1];
scale1[2] = scale1[2]/scale2[2];
MT_Matrix3x3 invori = obj->NodeGetWorldOrientation().inverse();
MT_Vector3 newpos = invori*(NodeGetWorldPosition()-obj->NodeGetWorldPosition())*scale1;
NodeSetLocalScale(scale1);
NodeSetLocalPosition(MT_Point3(newpos[0],newpos[1],newpos[2]));
NodeSetLocalOrientation(invori*NodeGetWorldOrientation());
NodeUpdateGS(0.f,true);
// object will now be a child, it must be removed from the parent list
CListValue* rootlist = scene->GetRootParentList();
if (rootlist->RemoveValue(this))
// the object was in parent list, decrement ref count as it's now removed
Release();
}
}
void KX_GameObject::RemoveParent(KX_Scene *scene)
{
if (GetSGNode()->GetSGParent())
{
// Set us to the right spot
GetSGNode()->SetLocalScale(GetSGNode()->GetWorldScaling());
GetSGNode()->SetLocalOrientation(GetSGNode()->GetWorldOrientation());
GetSGNode()->SetLocalPosition(GetSGNode()->GetWorldPosition());
// Remove us from our parent
GetSGNode()->DisconnectFromParent();
NodeUpdateGS(0.f,true);
// the object is now a root object, add it to the parentlist
CListValue* rootlist = scene->GetRootParentList();
if (!rootlist->SearchValue(this))
// object was not in root list, add it now and increment ref count
rootlist->Add(AddRef());
}
}
void KX_GameObject::ProcessReplica(KX_GameObject* replica)
{
replica->m_pPhysicsController1 = NULL;
replica->m_pSGNode = NULL;
replica->m_pClient_info = new KX_ClientObjectInfo(*m_pClient_info);
replica->m_pClient_info->m_gameobject = replica;
}
CValue* KX_GameObject::GetReplica()
{
KX_GameObject* replica = new KX_GameObject(*this);
// this will copy properties and so on...
CValue::AddDataToReplica(replica);
ProcessReplica(replica);
return replica;
}
void KX_GameObject::ApplyForce(const MT_Vector3& force,bool local)
{
if (m_pPhysicsController1)
m_pPhysicsController1->ApplyForce(force,local);
}
void KX_GameObject::ApplyTorque(const MT_Vector3& torque,bool local)
{
if (m_pPhysicsController1)
m_pPhysicsController1->ApplyTorque(torque,local);
}
void KX_GameObject::ApplyMovement(const MT_Vector3& dloc,bool local)
{
if (m_pPhysicsController1) // (IsDynamic())
{
m_pPhysicsController1->RelativeTranslate(dloc,local);
}
GetSGNode()->RelativeTranslate(dloc,GetSGNode()->GetSGParent(),local);
}
void KX_GameObject::ApplyRotation(const MT_Vector3& drot,bool local)
{
MT_Matrix3x3 rotmat(drot);
GetSGNode()->RelativeRotate(rotmat,local);
if (m_pPhysicsController1) { // (IsDynamic())
m_pPhysicsController1->RelativeRotate(rotmat,local);
}
}
/**
GetOpenGL Matrix, returns an OpenGL 'compatible' matrix
*/
double* KX_GameObject::GetOpenGLMatrix()
{
// todo: optimize and only update if necessary
double* fl = m_OpenGL_4x4Matrix.getPointer();
MT_Transform trans;
trans.setOrigin(GetSGNode()->GetWorldPosition());
trans.setBasis(GetSGNode()->GetWorldOrientation());
MT_Vector3 scaling = GetSGNode()->GetWorldScaling();
m_bIsNegativeScaling = ((scaling[0] < 0.0) ^ (scaling[1] < 0.0) ^ (scaling[2] < 0.0)) ? true : false;
trans.scale(scaling[0], scaling[1], scaling[2]);
trans.getValue(fl);
return fl;
}
void KX_GameObject::Bucketize()
{
double* fl = GetOpenGLMatrix();
for (size_t i=0;i<m_meshes.size();i++)
m_meshes[i]->Bucketize(fl, this, m_bUseObjectColor, m_objectColor);
}
void KX_GameObject::RemoveMeshes()
{
double* fl = GetOpenGLMatrix();
for (size_t i=0;i<m_meshes.size();i++)
m_meshes[i]->RemoveFromBuckets(fl, this);
//note: meshes can be shared, and are deleted by KX_BlenderSceneConverter
m_meshes.clear();
}
void KX_GameObject::UpdateNonDynas()
{
if (m_pPhysicsController1)
{
m_pPhysicsController1->SetSumoTransform(true);
}
}
void KX_GameObject::UpdateTransform()
{
if (m_pPhysicsController1)
m_pPhysicsController1->SetSumoTransform(false);
}
void KX_GameObject::UpdateTransformFunc(SG_IObject* node, void* gameobj, void* scene)
{
((KX_GameObject*)gameobj)->UpdateTransform();
}
void KX_GameObject::SetDebugColor(unsigned int bgra)
{
for (size_t i=0;i<m_meshes.size();i++)
m_meshes[i]->DebugColor(bgra);
}
void KX_GameObject::ResetDebugColor()
{
SetDebugColor(0xff000000);
}
void KX_GameObject::InitIPO(bool ipo_as_force,
bool ipo_add,
bool ipo_local)
{
SGControllerList::iterator it = GetSGNode()->GetSGControllerList().begin();
while (it != GetSGNode()->GetSGControllerList().end()) {
(*it)->SetOption(SG_Controller::SG_CONTR_IPO_RESET, true);
(*it)->SetOption(SG_Controller::SG_CONTR_IPO_IPO_AS_FORCE, ipo_as_force);
(*it)->SetOption(SG_Controller::SG_CONTR_IPO_IPO_ADD, ipo_add);
(*it)->SetOption(SG_Controller::SG_CONTR_IPO_LOCAL, ipo_local);
it++;
}
}
void KX_GameObject::UpdateIPO(float curframetime,
bool recurse)
{
// just the 'normal' update procedure.
GetSGNode()->SetSimulatedTime(curframetime,recurse);
GetSGNode()->UpdateWorldData(curframetime);
UpdateTransform();
}
// IPO update
void
KX_GameObject::UpdateMaterialData(
MT_Vector4 rgba,
MT_Vector3 specrgb,
MT_Scalar hard,
MT_Scalar spec,
MT_Scalar ref,
MT_Scalar emit,
MT_Scalar alpha
)
{
int mesh = 0;
if (((unsigned int)mesh < m_meshes.size()) && mesh >= 0) {
RAS_MaterialBucket::Set::iterator mit = m_meshes[mesh]->GetFirstMaterial();
for(; mit != m_meshes[mesh]->GetLastMaterial(); ++mit)
{
RAS_IPolyMaterial* poly = (*mit)->GetPolyMaterial();
if(poly->GetFlag() & RAS_BLENDERMAT )
{
SetObjectColor(rgba);
KX_BlenderMaterial *m = static_cast<KX_BlenderMaterial*>(poly);
m->UpdateIPO(rgba, specrgb,hard,spec,ref,emit, alpha);
}
}
}
}
bool
KX_GameObject::GetVisible(
void
)
{
return m_bVisible;
}
void
KX_GameObject::SetVisible(
bool v
)
{
m_bVisible = v;
}
void
KX_GameObject::SetLayer(
int l
)
{
m_layer = l;
}
int
KX_GameObject::GetLayer(
void
)
{
return m_layer;
}
// used by Python, and the actuatorshould _not_ be misused by the
// scene!
void
KX_GameObject::MarkVisible(
bool visible
)
{
/* If explicit visibility settings are used, this is
* determined on this level. Maybe change this to mesh level
* later on? */
double* fl = GetOpenGLMatrixPtr()->getPointer();
for (size_t i=0;i<m_meshes.size();i++)
{
m_meshes[i]->MarkVisible(fl,this,visible,m_bUseObjectColor,m_objectColor);
}
}
// Always use the flag?
void
KX_GameObject::MarkVisible(
void
)
{
double* fl = GetOpenGLMatrixPtr()->getPointer();
for (size_t i=0;i<m_meshes.size();i++)
{
m_meshes[i]->MarkVisible(fl,
this,
m_bVisible,
m_bUseObjectColor,
m_objectColor
);
}
}
void KX_GameObject::addLinearVelocity(const MT_Vector3& lin_vel,bool local)
{
if (m_pPhysicsController1)
m_pPhysicsController1->SetLinearVelocity(lin_vel + m_pPhysicsController1->GetLinearVelocity(),local);
}
void KX_GameObject::setLinearVelocity(const MT_Vector3& lin_vel,bool local)
{
if (m_pPhysicsController1)
m_pPhysicsController1->SetLinearVelocity(lin_vel,local);
}
void KX_GameObject::setAngularVelocity(const MT_Vector3& ang_vel,bool local)
{
if (m_pPhysicsController1)
m_pPhysicsController1->SetAngularVelocity(ang_vel,local);
}
void KX_GameObject::ResolveCombinedVelocities(
const MT_Vector3 & lin_vel,
const MT_Vector3 & ang_vel,
bool lin_vel_local,
bool ang_vel_local
){
if (m_pPhysicsController1)
{
MT_Vector3 lv = lin_vel_local ? NodeGetWorldOrientation() * lin_vel : lin_vel;
MT_Vector3 av = ang_vel_local ? NodeGetWorldOrientation() * ang_vel : ang_vel;
m_pPhysicsController1->resolveCombinedVelocities(
lv.x(),lv.y(),lv.z(),av.x(),av.y(),av.z());
}
}
void KX_GameObject::SetObjectColor(const MT_Vector4& rgbavec)
{
m_bUseObjectColor = true;
m_objectColor = rgbavec;
}
void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis, float fac)
{
MT_Matrix3x3 orimat;
MT_Vector3 vect,ori,z,x,y;
MT_Scalar len;
vect = dir;
len = vect.length();
if (MT_fuzzyZero(len))
{
cout << "alignAxisToVect() Error: Null vector!\n";
return;
}
if (fac<=0.0) {
return;
}
// normalize
vect /= len;
orimat = GetSGNode()->GetWorldOrientation();
switch (axis)
{
case 0: //x axis
ori = MT_Vector3(orimat[0][2], orimat[1][2], orimat[2][2]); //pivot axis
if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON) //is the vector paralell to the pivot?
ori = MT_Vector3(orimat[0][1], orimat[1][1], orimat[2][1]); //change the pivot!
if (fac == 1.0) {
x = vect;
} else {
x = (vect * fac) + ((orimat * MT_Vector3(1.0, 0.0, 0.0)) * (1-fac));
len = x.length();
if (MT_fuzzyZero(len)) x = vect;
else x /= len;
}
y = ori.cross(x);
z = x.cross(y);
break;
case 1: //y axis
ori = MT_Vector3(orimat[0][0], orimat[1][0], orimat[2][0]);
if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON)
ori = MT_Vector3(orimat[0][2], orimat[1][2], orimat[2][2]);
if (fac == 1.0) {
y = vect;
} else {
y = (vect * fac) + ((orimat * MT_Vector3(0.0, 1.0, 0.0)) * (1-fac));
len = y.length();
if (MT_fuzzyZero(len)) y = vect;
else y /= len;
}
z = ori.cross(y);
x = y.cross(z);
break;
case 2: //z axis
ori = MT_Vector3(orimat[0][1], orimat[1][1], orimat[2][1]);
if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON)
ori = MT_Vector3(orimat[0][0], orimat[1][0], orimat[2][0]);
if (fac == 1.0) {
z = vect;
} else {
z = (vect * fac) + ((orimat * MT_Vector3(0.0, 0.0, 1.0)) * (1-fac));
len = z.length();
if (MT_fuzzyZero(len)) z = vect;
else z /= len;
}
x = ori.cross(z);
y = z.cross(x);
break;
default: //wrong input?
cout << "alignAxisToVect(): Wrong axis '" << axis <<"'\n";
return;
}
x.normalize(); //normalize the vectors
y.normalize();
z.normalize();
orimat = MT_Matrix3x3( x[0],y[0],z[0],
x[1],y[1],z[1],
x[2],y[2],z[2]);
if (GetSGNode()->GetSGParent() != NULL)
{
// the object is a child, adapt its local orientation so that
// the global orientation is aligned as we want.
MT_Matrix3x3 invori = GetSGNode()->GetSGParent()->GetWorldOrientation().inverse();
NodeSetLocalOrientation(invori*orimat);
}
else
NodeSetLocalOrientation(orimat);
}
MT_Scalar KX_GameObject::GetMass()
{
if (m_pPhysicsController1)
{
return m_pPhysicsController1->GetMass();
}
return 0.0;
}
MT_Vector3 KX_GameObject::GetLinearVelocity(bool local)
{
MT_Vector3 velocity(0.0,0.0,0.0), locvel;
MT_Matrix3x3 ori;
if (m_pPhysicsController1)
{
velocity = m_pPhysicsController1->GetLinearVelocity();
if (local)
{
ori = GetSGNode()->GetWorldOrientation();
locvel = velocity * ori;
return locvel;
}
}
return velocity;
}
MT_Vector3 KX_GameObject::GetAngularVelocity(bool local)
{
MT_Vector3 velocity(0.0,0.0,0.0), locvel;
MT_Matrix3x3 ori;
if (m_pPhysicsController1)
{
velocity = m_pPhysicsController1->GetAngularVelocity();
if (local)
{
ori = GetSGNode()->GetWorldOrientation();
locvel = velocity * ori;
return locvel;
}
}
return velocity;
}
// scenegraph node stuff
void KX_GameObject::NodeSetLocalPosition(const MT_Point3& trans)
{
if (m_pPhysicsController1)
{
m_pPhysicsController1->setPosition(trans);
}
if (GetSGNode())
GetSGNode()->SetLocalPosition(trans);
}
void KX_GameObject::NodeSetLocalOrientation(const MT_Matrix3x3& rot)
{
if (m_pPhysicsController1)
{
m_pPhysicsController1->setOrientation(rot.getRotation());
}
if (GetSGNode())
GetSGNode()->SetLocalOrientation(rot);
else
{
int i;
i=0;
}
}
void KX_GameObject::NodeSetLocalScale(const MT_Vector3& scale)
{
if (m_pPhysicsController1)
{
m_pPhysicsController1->setScaling(scale);
}
if (GetSGNode())
GetSGNode()->SetLocalScale(scale);
}
void KX_GameObject::NodeSetRelativeScale(const MT_Vector3& scale)
{
if (GetSGNode())
GetSGNode()->RelativeScale(scale);
}
void KX_GameObject::NodeSetWorldPosition(const MT_Point3& trans)
{
SG_Node* parent = m_pSGNode->GetSGParent();
if (parent != NULL)
{
// Make sure the objects have some scale
MT_Vector3 scale = parent->GetWorldScaling();
if (fabs(scale[0]) < FLT_EPSILON ||
fabs(scale[1]) < FLT_EPSILON ||
fabs(scale[2]) < FLT_EPSILON)
{
return;
}
scale[0] = 1.0/scale[0];
scale[1] = 1.0/scale[1];
scale[2] = 1.0/scale[2];
MT_Matrix3x3 invori = parent->GetWorldOrientation().inverse();
MT_Vector3 newpos = invori*(trans-parent->GetWorldPosition())*scale;
NodeSetLocalPosition(MT_Point3(newpos[0],newpos[1],newpos[2]));
}
else
{
NodeSetLocalPosition(trans);
}
}
void KX_GameObject::NodeUpdateGS(double time,bool bInitiator)
{
if (GetSGNode())
GetSGNode()->UpdateWorldData(time);
}
const MT_Matrix3x3& KX_GameObject::NodeGetWorldOrientation() const
{
return GetSGNode()->GetWorldOrientation();
}
const MT_Vector3& KX_GameObject::NodeGetWorldScaling() const
{
return GetSGNode()->GetWorldScaling();
}
const MT_Point3& KX_GameObject::NodeGetWorldPosition() const
{
return GetSGNode()->GetWorldPosition();
}
/* Suspend/ resume: for the dynamic behaviour, there is a simple
* method. For the residual motion, there is not. I wonder what the
* correct solution is for Sumo. Remove from the motion-update tree?
*
* So far, only switch the physics and logic.
* */
void KX_GameObject::Resume(void)
{
if (m_suspended) {
SCA_IObject::Resume();
GetPhysicsController()->RestoreDynamics();
m_suspended = false;
}
}
void KX_GameObject::Suspend(void)
{
if ((!m_ignore_activity_culling)
&& (!m_suspended)) {
SCA_IObject::Suspend();
GetPhysicsController()->SuspendDynamics();
m_suspended = true;
}
}
/* ------- python stuff ---------------------------------------------------*/
PyMethodDef KX_GameObject::Methods[] = {
{"getPosition", (PyCFunction) KX_GameObject::sPyGetPosition, METH_NOARGS},
{"setPosition", (PyCFunction) KX_GameObject::sPySetPosition, METH_O},
{"getLinearVelocity", (PyCFunction) KX_GameObject::sPyGetLinearVelocity, METH_VARARGS},
{"setLinearVelocity", (PyCFunction) KX_GameObject::sPySetLinearVelocity, METH_VARARGS},
{"getVelocity", (PyCFunction) KX_GameObject::sPyGetVelocity, METH_VARARGS},
{"getMass", (PyCFunction) KX_GameObject::sPyGetMass, METH_NOARGS},
{"getReactionForce", (PyCFunction) KX_GameObject::sPyGetReactionForce, METH_NOARGS},
{"getOrientation", (PyCFunction) KX_GameObject::sPyGetOrientation, METH_NOARGS},
{"setOrientation", (PyCFunction) KX_GameObject::sPySetOrientation, METH_O},
{"getVisible",(PyCFunction) KX_GameObject::sPyGetVisible, METH_NOARGS},
{"setVisible",(PyCFunction) KX_GameObject::sPySetVisible, METH_O},
{"getState",(PyCFunction) KX_GameObject::sPyGetState, METH_NOARGS},
{"setState",(PyCFunction) KX_GameObject::sPySetState, METH_O},
{"alignAxisToVect",(PyCFunction) KX_GameObject::sPyAlignAxisToVect, METH_VARARGS},
{"getAxisVect",(PyCFunction) KX_GameObject::sPyGetAxisVect, METH_O},
{"suspendDynamics", (PyCFunction)KX_GameObject::sPySuspendDynamics,METH_NOARGS},
{"restoreDynamics", (PyCFunction)KX_GameObject::sPyRestoreDynamics,METH_NOARGS},
{"enableRigidBody", (PyCFunction)KX_GameObject::sPyEnableRigidBody,METH_NOARGS},
{"disableRigidBody", (PyCFunction)KX_GameObject::sPyDisableRigidBody,METH_NOARGS},
{"applyImpulse", (PyCFunction) KX_GameObject::sPyApplyImpulse, METH_VARARGS},
{"setCollisionMargin", (PyCFunction) KX_GameObject::sPySetCollisionMargin, METH_O},
{"getParent", (PyCFunction)KX_GameObject::sPyGetParent,METH_NOARGS},
{"setParent", (PyCFunction)KX_GameObject::sPySetParent,METH_O},
{"removeParent", (PyCFunction)KX_GameObject::sPyRemoveParent,METH_NOARGS},
{"getMesh", (PyCFunction)KX_GameObject::sPyGetMesh,METH_VARARGS},
{"getPhysicsId", (PyCFunction)KX_GameObject::sPyGetPhysicsId,METH_NOARGS},
{"getPropertyNames", (PyCFunction)KX_GameObject::sPyGetPropertyNames,METH_NOARGS},
{"endObject",(PyCFunction) KX_GameObject::sPyEndObject, METH_NOARGS},
KX_PYMETHODTABLE(KX_GameObject, rayCastTo),
KX_PYMETHODTABLE(KX_GameObject, rayCast),
KX_PYMETHODTABLE(KX_GameObject, getDistanceTo),
{NULL,NULL} //Sentinel
};
/*
bool KX_GameObject::ConvertPythonVectorArgs(PyObject* args,
MT_Vector3& pos,
MT_Vector3& pos2)
{
PyObject* pylist;
PyObject* pylist2;
bool error = (PyArg_ParseTuple(args,"OO",&pylist,&pylist2)) != 0;
pos = ConvertPythonPylist(pylist);
pos2 = ConvertPythonPylist(pylist2);
return error;
}
*/
PyObject* KX_GameObject::PyEndObject(PyObject* self)
{
KX_Scene *scene = PHY_GetActiveScene();
scene->DelayedRemoveObject(this);
return Py_None;
}
PyObject* KX_GameObject::PyGetPosition(PyObject* self)
{
return PyObjectFrom(NodeGetWorldPosition());
}
PyTypeObject KX_GameObject::Type = {
PyObject_HEAD_INIT(&PyType_Type)
0,
"KX_GameObject",
sizeof(KX_GameObject),
0,
PyDestructor,
0,
__getattr,
__setattr,
0, //&MyPyCompare,
__repr,
0, //&cvalue_as_number,
0,
0,
0,
0
};
PyParentObject KX_GameObject::Parents[] = {
&KX_GameObject::Type,
&SCA_IObject::Type,
&CValue::Type,
NULL
};
PyObject* KX_GameObject::_getattr(const STR_String& attr)
{
if (m_pPhysicsController1)
{
if (attr == "mass")
return PyFloat_FromDouble(GetPhysicsController()->GetMass());
}
if (attr == "parent")
{
KX_GameObject* parent = GetParent();
if (parent)
{
parent->AddRef();
return parent;
}
Py_RETURN_NONE;
}
if (attr == "visible")
return PyInt_FromLong(m_bVisible);
if (attr == "position")
return PyObjectFrom(NodeGetWorldPosition());
if (attr == "orientation")
return PyObjectFrom(NodeGetWorldOrientation());
if (attr == "scaling")
return PyObjectFrom(NodeGetWorldScaling());
if (attr == "name")
return PyString_FromString(m_name.ReadPtr());
if (attr == "timeOffset") {
if (m_pSGNode->GetSGParent()->IsSlowParent()) {
return PyFloat_FromDouble(static_cast<KX_SlowParentRelation *>(m_pSGNode->GetSGParent()->GetParentRelation())->GetTimeOffset());
} else {
return PyFloat_FromDouble(0.0);
}
}
_getattr_up(SCA_IObject);
}
int KX_GameObject::_setattr(const STR_String& attr, PyObject *value) // _setattr method
{
if (attr == "mass")
return 1;
if (attr == "parent")
return 1;
if (PyInt_Check(value))
{
int val = PyInt_AsLong(value);
if (attr == "visible")
{
SetVisible(val != 0);
return 0;
}
}
if (PyFloat_Check(value))
{
MT_Scalar val = PyFloat_AsDouble(value);
if (attr == "timeOffset") {
if (m_pSGNode->GetSGParent() && m_pSGNode->GetSGParent()->IsSlowParent()) {
static_cast<KX_SlowParentRelation *>(m_pSGNode->GetSGParent()->GetParentRelation())->SetTimeOffset(val);
return 0;
} else {
return 0;
}
}
}
if (PySequence_Check(value))
{
if (attr == "orientation")
{
MT_Matrix3x3 rot;
if (PyObject_IsMT_Matrix(value, 3))
{
if (PyMatTo(value, rot))
{
NodeSetLocalOrientation(rot);
NodeUpdateGS(0.f,true);
return 0;
}
return 1;
}
if (PySequence_Size(value) == 4)
{
MT_Quaternion qrot;
if (PyVecTo(value, qrot))
{
rot.setRotation(qrot);
NodeSetLocalOrientation(rot);
NodeUpdateGS(0.f,true);
return 0;
}
return 1;
}
if (PySequence_Size(value) == 3)
{
MT_Vector3 erot;
if (PyVecTo(value, erot))
{
rot.setEuler(erot);
NodeSetLocalOrientation(rot);
NodeUpdateGS(0.f,true);
return 0;
}
return 1;
}
return 1;
}
if (attr == "position")
{
MT_Point3 pos;
if (PyVecTo(value, pos))
{
NodeSetLocalPosition(pos);
NodeUpdateGS(0.f,true);
return 0;
}
return 1;
}
if (attr == "scaling")
{
MT_Vector3 scale;
if (PyVecTo(value, scale))
{
NodeSetLocalScale(scale);
NodeUpdateGS(0.f,true);
return 0;
}
return 1;
}
}
if (PyString_Check(value))
{
if (attr == "name")
{
m_name = PyString_AsString(value);
return 0;
}
}
/* Need to have parent settable here too */
return SCA_IObject::_setattr(attr, value);
}
PyObject* KX_GameObject::PyGetLinearVelocity(PyObject* self,
PyObject* args,
PyObject* kwds)
{
// only can get the velocity if we have a physics object connected to us...
int local = 0;
if (PyArg_ParseTuple(args,"|i",&local))
{
return PyObjectFrom(GetLinearVelocity((local!=0)));
}
else
{
return NULL;
}
}
PyObject* KX_GameObject::PySetLinearVelocity(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int local = 0;
PyObject* pyvect;
if (PyArg_ParseTuple(args,"O|i",&pyvect,&local)) {
MT_Vector3 velocity;
if (PyVecTo(pyvect, velocity)) {
setLinearVelocity(velocity, (local!=0));
Py_RETURN_NONE;
}
}
return NULL;
}
PyObject* KX_GameObject::PySetVisible(PyObject* self, PyObject* value)
{
int visible = PyInt_AsLong(value);
if (visible==-1 && PyErr_Occurred()) {
PyErr_SetString(PyExc_TypeError, "expected 0 or 1");
return NULL;
}
MarkVisible(visible!=0);
m_bVisible = (visible!=0);
Py_RETURN_NONE;
}
PyObject* KX_GameObject::PyGetVisible(PyObject* self)
{
return PyInt_FromLong(m_bVisible);
}
PyObject* KX_GameObject::PyGetState(PyObject* self)
{
int state = 0;
state |= GetState();
return PyInt_FromLong(state);
}
PyObject* KX_GameObject::PySetState(PyObject* self, PyObject* value)
{
int state_i = PyInt_AsLong(value);
unsigned int state = 0;
if (state_i == -1 && PyErr_Occurred()) {
PyErr_SetString(PyExc_TypeError, "expected an int bit field");
return NULL;
}
state |= state_i;
if ((state & ((1<<30)-1)) == 0) {
PyErr_SetString(PyExc_AttributeError, "The state bitfield was not between 0 and 30 (1<<0 and 1<<29)");
return NULL;
}
SetState(state);
Py_RETURN_NONE;
}
PyObject* KX_GameObject::PyGetVelocity(PyObject* self,
PyObject* args,
PyObject* kwds)
{
// only can get the velocity if we have a physics object connected to us...
MT_Vector3 velocity(0.0,0.0,0.0);
MT_Point3 point(0.0,0.0,0.0);
PyObject* pypos = NULL;
if (PyArg_ParseTuple(args, "|O", &pypos))
{
if (pypos)
PyVecTo(pypos, point);
}
else {
return NULL;
}
if (m_pPhysicsController1)
{
velocity = m_pPhysicsController1->GetVelocity(point);
}
return PyObjectFrom(velocity);
}
PyObject* KX_GameObject::PyGetMass(PyObject* self)
{
return PyFloat_FromDouble(GetPhysicsController()->GetMass());
}
PyObject* KX_GameObject::PyGetReactionForce(PyObject* self)
{
// only can get the velocity if we have a physics object connected to us...
return PyObjectFrom(GetPhysicsController()->getReactionForce());
}
PyObject* KX_GameObject::PyEnableRigidBody(PyObject* self)
{
GetPhysicsController()->setRigidBody(true);
Py_RETURN_NONE;
}
PyObject* KX_GameObject::PyDisableRigidBody(PyObject* self)
{
GetPhysicsController()->setRigidBody(false);
Py_RETURN_NONE;
}
PyObject* KX_GameObject::PyGetParent(PyObject* self)
{
KX_GameObject* parent = this->GetParent();
if (parent)
{
parent->AddRef();
return parent;
}
Py_RETURN_NONE;
}
PyObject* KX_GameObject::PySetParent(PyObject* self, PyObject* value)
{
if (!PyObject_TypeCheck(value, &KX_GameObject::Type)) {
PyErr_SetString(PyExc_TypeError, "expected a KX_GameObject type");
return NULL;
}
// The object we want to set as parent
CValue *m_ob = (CValue*)value;
KX_GameObject *obj = ((KX_GameObject*)m_ob);
KX_Scene *scene = PHY_GetActiveScene();
this->SetParent(scene, obj);
Py_RETURN_NONE;
}
PyObject* KX_GameObject::PyRemoveParent(PyObject* self)
{
KX_Scene *scene = PHY_GetActiveScene();
this->RemoveParent(scene);
Py_RETURN_NONE;
}
PyObject* KX_GameObject::PyGetMesh(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int mesh = 0;
if (PyArg_ParseTuple(args, "|i", &mesh))
{
if (((unsigned int)mesh < m_meshes.size()) && mesh >= 0)
{
KX_MeshProxy* meshproxy = new KX_MeshProxy(m_meshes[mesh]);
return meshproxy;
}
}
return NULL;
}
PyObject* KX_GameObject::PySetCollisionMargin(PyObject* self, PyObject* value)
{
float collisionMargin = PyFloat_AsDouble(value);
if (collisionMargin==-1 && PyErr_Occurred()) {
PyErr_SetString(PyExc_TypeError, "expected a float");
return NULL;
}
if (m_pPhysicsController1)
{
m_pPhysicsController1->setMargin(collisionMargin);
Py_RETURN_NONE;
}
PyErr_SetString(PyExc_RuntimeError, "This object has no physics controller");
return NULL;
}
PyObject* KX_GameObject::PyApplyImpulse(PyObject* self,
PyObject* args,
PyObject* kwds)
{
PyObject* pyattach;
PyObject* pyimpulse;
if (!m_pPhysicsController1) {
PyErr_SetString(PyExc_RuntimeError, "This object has no physics controller");
return NULL;
}
if (PyArg_ParseTuple(args, "OO", &pyattach, &pyimpulse))
{
MT_Point3 attach;
MT_Vector3 impulse;
if (PyVecTo(pyattach, attach) && PyVecTo(pyimpulse, impulse))
{
m_pPhysicsController1->applyImpulse(attach, impulse);
Py_RETURN_NONE;
}
}
return NULL;
}
PyObject* KX_GameObject::PySuspendDynamics(PyObject* self)
{
SuspendDynamics();
Py_RETURN_NONE;
}
PyObject* KX_GameObject::PyRestoreDynamics(PyObject* self)
{
RestoreDynamics();
Py_RETURN_NONE;
}
PyObject* KX_GameObject::PyGetOrientation(PyObject* self) //keywords
{
return PyObjectFrom(NodeGetWorldOrientation());
}
PyObject* KX_GameObject::PySetOrientation(PyObject* self, PyObject* value)
{
MT_Matrix3x3 matrix;
if (PyObject_IsMT_Matrix(value, 3) && PyMatTo(value, matrix))
{
NodeSetLocalOrientation(matrix);
NodeUpdateGS(0.f,true);
Py_RETURN_NONE;
}
MT_Quaternion quat;
if (PyVecTo(value, quat))
{
matrix.setRotation(quat);
NodeSetLocalOrientation(matrix);
NodeUpdateGS(0.f,true);
Py_RETURN_NONE;
}
return NULL;
}
PyObject* KX_GameObject::PyAlignAxisToVect(PyObject* self,
PyObject* args,
PyObject* kwds)
{
PyObject* pyvect;
int axis = 2; //z axis is the default
float fac = 1.0;
if (PyArg_ParseTuple(args,"O|if",&pyvect,&axis, &fac))
{
MT_Vector3 vect;
if (PyVecTo(pyvect, vect))
{
AlignAxisToVect(vect,axis,fac);
Py_RETURN_NONE;
}
}
return NULL;
}
PyObject* KX_GameObject::PyGetAxisVect(PyObject* self, PyObject* value)
{
MT_Vector3 vect;
if (PyVecTo(value, vect))
{
return PyObjectFrom(NodeGetWorldOrientation() * vect);
}
return NULL;
}
PyObject* KX_GameObject::PySetPosition(PyObject* self, PyObject* value)
{
MT_Point3 pos;
if (PyVecTo(value, pos))
{
NodeSetLocalPosition(pos);
NodeUpdateGS(0.f,true);
Py_RETURN_NONE;
}
return NULL;
}
PyObject* KX_GameObject::PyGetPhysicsId(PyObject* self)
{
KX_IPhysicsController* ctrl = GetPhysicsController();
uint_ptr physid=0;
if (ctrl)
{
physid= (uint_ptr)ctrl->GetUserData();
}
return PyInt_FromLong((long)physid);
}
PyObject* KX_GameObject::PyGetPropertyNames(PyObject* self)
{
return ConvertKeysToPython();
}
KX_PYMETHODDEF_DOC(KX_GameObject, getDistanceTo,
"getDistanceTo(other): get distance to another point/KX_GameObject")
{
MT_Point3 b;
if (PyVecArgTo(args, b))
{
return PyFloat_FromDouble(NodeGetWorldPosition().distance(b));
}
PyErr_Clear();
PyObject *pyother;
if (PyArg_ParseTuple(args, "O!", &KX_GameObject::Type, &pyother))
{
KX_GameObject *other = static_cast<KX_GameObject*>(pyother);
return PyFloat_FromDouble(NodeGetWorldPosition().distance(other->NodeGetWorldPosition()));
}
return NULL;
}
bool KX_GameObject::RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data)
{
KX_GameObject* hitKXObj = client->m_gameobject;
if (client->m_type > KX_ClientObjectInfo::ACTOR)
{
// false hit
return false;
}
if (m_testPropName.Length() == 0 || hitKXObj->GetProperty(m_testPropName) != NULL)
{
m_pHitObject = hitKXObj;
return true;
}
return false;
}
KX_PYMETHODDEF_DOC(KX_GameObject, rayCastTo,
"rayCastTo(other,dist,prop): look towards another point/KX_GameObject and return first object hit within dist that matches prop\n"
" prop = property name that object must have; can be omitted => detect any object\n"
" dist = max distance to look (can be negative => look behind); 0 or omitted => detect up to other\n"
" other = 3-tuple or object reference")
{
MT_Point3 toPoint;
PyObject* pyarg;
float dist = 0.0f;
char *propName = NULL;
if (!PyArg_ParseTuple(args,"O|fs", &pyarg, &dist, &propName))
return NULL;
if (!PyVecTo(pyarg, toPoint))
{
KX_GameObject *other;
PyErr_Clear();
if (!PyType_IsSubtype(pyarg->ob_type, &KX_GameObject::Type)) {
PyErr_SetString(PyExc_TypeError, "the first argument to rayCastTo must be a vector or a KX_GameObject");
return NULL;
}
other = static_cast<KX_GameObject*>(pyarg);
toPoint = other->NodeGetWorldPosition();
}
MT_Point3 fromPoint = NodeGetWorldPosition();
if (dist != 0.0f)
{
MT_Vector3 toDir = toPoint-fromPoint;
toDir.normalize();
toPoint = fromPoint + (dist) * toDir;
}
MT_Point3 resultPoint;
MT_Vector3 resultNormal;
PHY_IPhysicsEnvironment* pe = GetPhysicsEnvironment();
KX_IPhysicsController *spc = GetPhysicsController();
KX_GameObject *parent = GetParent();
if (!spc && parent)
spc = parent->GetPhysicsController();
if (parent)
parent->Release();
m_pHitObject = NULL;
if (propName)
m_testPropName = propName;
else
m_testPropName.SetLength(0);
KX_RayCast::RayTest(spc, pe, fromPoint, toPoint, resultPoint, resultNormal, KX_RayCast::Callback<KX_GameObject>(this));
if (m_pHitObject)
{
m_pHitObject->AddRef();
return m_pHitObject;
}
Py_RETURN_NONE;
}
KX_PYMETHODDEF_DOC(KX_GameObject, rayCast,
"rayCast(to,from,dist,prop): cast a ray and return tuple (object,hit,normal) of contact point with object within dist that matches prop or None if no hit\n"
" prop = property name that object must have; can be omitted => detect any object\n"
" dist = max distance to look (can be negative => look behind); 0 or omitted => detect up to to\n"
" from = 3-tuple or object reference for origin of ray (if object, use center of object)\n"
" Can None or omitted => start from self object center\n"
" to = 3-tuple or object reference for destination of ray (if object, use center of object)\n"
"Note: the object on which you call this method matters: the ray will ignore it if it goes through it\n")
{
MT_Point3 toPoint;
MT_Point3 fromPoint;
PyObject* pyto;
PyObject* pyfrom = NULL;
float dist = 0.0f;
char *propName = NULL;
KX_GameObject *other;
if (!PyArg_ParseTuple(args,"O|Ofs", &pyto, &pyfrom, &dist, &propName))
return NULL;
if (!PyVecTo(pyto, toPoint))
{
PyErr_Clear();
if (!PyType_IsSubtype(pyto->ob_type, &KX_GameObject::Type)) {
PyErr_SetString(PyExc_TypeError, "the first argument to rayCast must be a vector or a KX_GameObject");
return NULL;
}
other = static_cast<KX_GameObject*>(pyto);
toPoint = other->NodeGetWorldPosition();
}
if (!pyfrom || pyfrom == Py_None)
{
fromPoint = NodeGetWorldPosition();
}
else if (!PyVecTo(pyfrom, fromPoint))
{
PyErr_Clear();
if (!PyType_IsSubtype(pyfrom->ob_type, &KX_GameObject::Type)) {
PyErr_SetString(PyExc_TypeError, "the second optional argument to rayCast must be a vector or a KX_GameObject");
return NULL;
}
other = static_cast<KX_GameObject*>(pyfrom);
fromPoint = other->NodeGetWorldPosition();
}
if (dist != 0.0f)
{
MT_Vector3 toDir = toPoint-fromPoint;
toDir.normalize();
toPoint = fromPoint + (dist) * toDir;
}
MT_Point3 resultPoint;
MT_Vector3 resultNormal;
PHY_IPhysicsEnvironment* pe = GetPhysicsEnvironment();
KX_IPhysicsController *spc = GetPhysicsController();
KX_GameObject *parent = GetParent();
if (!spc && parent)
spc = parent->GetPhysicsController();
if (parent)
parent->Release();
m_pHitObject = NULL;
if (propName)
m_testPropName = propName;
else
m_testPropName.SetLength(0);
KX_RayCast::RayTest(spc, pe, fromPoint, toPoint, resultPoint, resultNormal, KX_RayCast::Callback<KX_GameObject>(this));
if (m_pHitObject)
{
PyObject* returnValue = PyTuple_New(3);
if (!returnValue)
return NULL;
PyTuple_SET_ITEM(returnValue, 0, m_pHitObject->AddRef());
PyTuple_SET_ITEM(returnValue, 1, PyObjectFrom(resultPoint));
PyTuple_SET_ITEM(returnValue, 2, PyObjectFrom(resultNormal));
return returnValue;
//return Py_BuildValue("(O,(fff),(fff))",
// m_pHitObject->AddRef(), // trick: KX_GameObject are not true Python object, they use a difference reference count system
// resultPoint[0], resultPoint[1], resultPoint[2],
// resultNormal[0], resultNormal[1], resultNormal[2]);
}
return Py_BuildValue("OOO", Py_None, Py_None, Py_None);
//Py_RETURN_NONE;
}
/* ---------------------------------------------------------------------
* Some stuff taken from the header
* --------------------------------------------------------------------- */
void KX_GameObject::Relink(GEN_Map<GEN_HashedPtr, void*> *map_parameter)
{
/* intentionally empty ? */
}
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