forked from bartvdbraak/blender
231 lines
6.3 KiB
C++
231 lines
6.3 KiB
C++
/*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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/** \file gameengine/Ketsji/KX_RadarSensor.cpp
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* \ingroup ketsji
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*/
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#include "KX_RadarSensor.h"
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#include "KX_GameObject.h"
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#include "KX_PyMath.h"
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#include "PHY_IPhysicsController.h"
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#include "PHY_IMotionState.h"
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#include "DNA_sensor_types.h"
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/**
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* RadarSensor constructor. Creates a near-sensor derived class, with a cone collision shape.
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*/
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KX_RadarSensor::KX_RadarSensor(SCA_EventManager* eventmgr,
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KX_GameObject* gameobj,
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PHY_IPhysicsController* physCtrl,
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double coneradius,
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double coneheight,
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int axis,
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double margin,
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double resetmargin,
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bool bFindMaterial,
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const STR_String& touchedpropname)
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: KX_NearSensor(
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eventmgr,
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gameobj,
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//DT_NewCone(coneradius,coneheight),
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margin,
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resetmargin,
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bFindMaterial,
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touchedpropname,
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physCtrl),
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m_coneradius(coneradius),
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m_coneheight(coneheight),
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m_axis(axis)
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{
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m_client_info->m_type = KX_ClientObjectInfo::SENSOR;
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//m_client_info->m_clientobject = gameobj;
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//m_client_info->m_auxilary_info = NULL;
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//sumoObj->setClientObject(&m_client_info);
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}
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KX_RadarSensor::~KX_RadarSensor()
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{
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}
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CValue* KX_RadarSensor::GetReplica()
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{
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KX_RadarSensor* replica = new KX_RadarSensor(*this);
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replica->ProcessReplica();
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return replica;
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}
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/**
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* Transforms the collision object. A cone is not correctly centered
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* for usage. */
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void KX_RadarSensor::SynchronizeTransform()
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{
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// Getting the parent location was commented out. Why?
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MT_Transform trans;
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trans.setOrigin(((KX_GameObject*)GetParent())->NodeGetWorldPosition());
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trans.setBasis(((KX_GameObject*)GetParent())->NodeGetWorldOrientation());
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// What is the default orientation? pointing in the -y direction?
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// is the geometry correctly converted?
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// a collision cone is oriented
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// center the cone correctly
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// depends on the radar 'axis'
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switch (m_axis)
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{
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case SENS_RADAR_X_AXIS: // +X Axis
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{
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MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
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trans.rotate(rotquatje);
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trans.translate(MT_Vector3 (0, -m_coneheight/2.0, 0));
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break;
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};
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case SENS_RADAR_Y_AXIS: // +Y Axis
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{
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MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
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trans.rotate(rotquatje);
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trans.translate(MT_Vector3 (0, -m_coneheight/2.0, 0));
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break;
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};
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case SENS_RADAR_Z_AXIS: // +Z Axis
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{
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MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-90));
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trans.rotate(rotquatje);
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trans.translate(MT_Vector3 (0, -m_coneheight/2.0, 0));
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break;
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};
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case SENS_RADAR_NEG_X_AXIS: // -X Axis
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{
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MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(-90));
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trans.rotate(rotquatje);
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trans.translate(MT_Vector3 (0, -m_coneheight/2.0, 0));
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break;
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};
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case SENS_RADAR_NEG_Y_AXIS: // -Y Axis
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{
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//MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
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//trans.rotate(rotquatje);
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trans.translate(MT_Vector3 (0, -m_coneheight/2.0, 0));
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break;
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};
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case SENS_RADAR_NEG_Z_AXIS: // -Z Axis
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{
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MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(90));
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trans.rotate(rotquatje);
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trans.translate(MT_Vector3 (0, -m_coneheight/2.0, 0));
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break;
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};
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default:
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{
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}
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}
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//Using a temp variable to translate MT_Point3 to float[3].
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//float[3] works better for the Python interface.
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MT_Point3 temp = trans.getOrigin();
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m_cone_origin[0] = temp[0];
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m_cone_origin[1] = temp[1];
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m_cone_origin[2] = temp[2];
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temp = trans(MT_Point3(0, -m_coneheight/2.0, 0));
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m_cone_target[0] = temp[0];
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m_cone_target[1] = temp[1];
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m_cone_target[2] = temp[2];
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if (m_physCtrl)
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{
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PHY_IMotionState* motionState = m_physCtrl->GetMotionState();
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const MT_Point3& pos = trans.getOrigin();
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float ori[12];
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trans.getBasis().getValue(ori);
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motionState->setWorldPosition(pos[0], pos[1], pos[2]);
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motionState->setWorldOrientation(ori);
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m_physCtrl->WriteMotionStateToDynamics(true);
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}
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}
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/* ------------------------------------------------------------------------- */
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/* Python Functions */
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/* ------------------------------------------------------------------------- */
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#ifdef WITH_PYTHON
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/* ------------------------------------------------------------------------- */
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/* Python Integration Hooks */
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/* ------------------------------------------------------------------------- */
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PyTypeObject KX_RadarSensor::Type = {
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PyVarObject_HEAD_INIT(NULL, 0)
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"KX_RadarSensor",
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sizeof(PyObjectPlus_Proxy),
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0,
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py_base_dealloc,
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0,
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0,
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0,
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0,
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py_base_repr,
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0,0,0,0,0,0,0,0,0,
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Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
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0,0,0,0,0,0,0,
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Methods,
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0,
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0,
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&KX_NearSensor::Type,
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0,0,0,0,0,0,
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py_base_new
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};
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PyMethodDef KX_RadarSensor::Methods[] = {
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{NULL} //Sentinel
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};
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PyAttributeDef KX_RadarSensor::Attributes[] = {
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KX_PYATTRIBUTE_FLOAT_ARRAY_RO("coneOrigin", KX_RadarSensor, m_cone_origin, 3),
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KX_PYATTRIBUTE_FLOAT_ARRAY_RO("coneTarget", KX_RadarSensor, m_cone_target, 3),
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KX_PYATTRIBUTE_FLOAT_RO("distance", KX_RadarSensor, m_coneheight),
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KX_PYATTRIBUTE_RO_FUNCTION("angle", KX_RadarSensor, pyattr_get_angle),
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KX_PYATTRIBUTE_INT_RW("axis", 0, 5, true, KX_RadarSensor, m_axis),
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{NULL} //Sentinel
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};
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PyObject *KX_RadarSensor::pyattr_get_angle(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
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{
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KX_RadarSensor* self = static_cast<KX_RadarSensor*>(self_v);
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// The original angle from the gui was converted, so we recalculate the value here to maintain
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// consistency between Python and the gui
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return PyFloat_FromDouble(MT_degrees(atan(self->m_coneradius / self->m_coneheight)) * 2);
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}
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#endif // WITH_PYTHON
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