blender/source/gameengine/Ketsji/KX_RadarSensor.cpp
Benoit Bolsee 4ae4ecd3ce BGE patch: Optimization of bullet adaptation layer - part 1.
First batch of optimizaton of the bullet adaptation layer in the BGE.
- remove circular motion state update.
- optimization of physic adaptation layer for bullet: bypass
  unecessary conversion of rotation matrix to quaternion and back.
- remove double updates during object replication.
2008-07-21 12:37:27 +00:00

280 lines
7.5 KiB
C++

/**
* $Id$
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#include "KX_RadarSensor.h"
#include "KX_GameObject.h"
#include "PHY_IPhysicsController.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
/**
* RadarSensor constructor. Creates a near-sensor derived class, with a cone collision shape.
*/
KX_RadarSensor::KX_RadarSensor(SCA_EventManager* eventmgr,
KX_GameObject* gameobj,
PHY_IPhysicsController* physCtrl,
double coneradius,
double coneheight,
int axis,
double margin,
double resetmargin,
bool bFindMaterial,
const STR_String& touchedpropname,
class KX_Scene* kxscene,
PyTypeObject* T)
: KX_NearSensor(
eventmgr,
gameobj,
//DT_NewCone(coneradius,coneheight),
margin,
resetmargin,
bFindMaterial,
touchedpropname,
kxscene,
physCtrl,
T),
m_coneradius(coneradius),
m_coneheight(coneheight),
m_axis(axis)
{
m_client_info->m_type = KX_ClientObjectInfo::RADAR;
//m_client_info->m_clientobject = gameobj;
//m_client_info->m_auxilary_info = NULL;
//sumoObj->setClientObject(&m_client_info);
}
KX_RadarSensor::~KX_RadarSensor()
{
}
CValue* KX_RadarSensor::GetReplica()
{
KX_RadarSensor* replica = new KX_RadarSensor(*this);
replica->m_colliders = new CListValue();
replica->Init();
// this will copy properties and so on...
CValue::AddDataToReplica(replica);
replica->m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::RADAR);
if (replica->m_physCtrl)
{
replica->m_physCtrl = replica->m_physCtrl->GetReplica();
if (replica->m_physCtrl)
{
replica->m_physCtrl->setNewClientInfo(replica->m_client_info);
}
}
//todo: make sure replication works fine!
//>m_sumoObj = new SM_Object(DT_NewCone(m_coneradius, m_coneheight),NULL,NULL,NULL);
//replica->m_sumoObj->setMargin(m_Margin);
//replica->m_sumoObj->setClientObject(replica->m_client_info);
((KX_GameObject*)replica->GetParent())->GetSGNode()->ComputeWorldTransforms(NULL);
replica->SynchronizeTransform();
return replica;
}
/**
* Transforms the collision object. A cone is not correctly centered
* for usage. */
void KX_RadarSensor::SynchronizeTransform()
{
// Getting the parent location was commented out. Why?
MT_Transform trans;
trans.setOrigin(((KX_GameObject*)GetParent())->NodeGetWorldPosition());
trans.setBasis(((KX_GameObject*)GetParent())->NodeGetWorldOrientation());
// What is the default orientation? pointing in the -y direction?
// is the geometry correctly converted?
// a collision cone is oriented
// center the cone correctly
// depends on the radar 'axis'
switch (m_axis)
{
case 0: // +X Axis
{
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
break;
};
case 1: // +Y Axis
{
MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
break;
};
case 2: // +Z Axis
{
MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
break;
};
case 3: // -X Axis
{
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0));
break;
};
case 4: // -Y Axis
{
MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0));
break;
};
case 5: // -Z Axis
{
MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0));
break;
};
default:
{
}
}
m_cone_origin = trans.getOrigin();
m_cone_target = trans(MT_Point3(0, -m_coneheight/2.0 ,0));
if (m_physCtrl)
{
MT_Quaternion orn = trans.getRotation();
MT_Point3 pos = trans.getOrigin();
m_physCtrl->setPosition(pos[0],pos[1],pos[2]);
m_physCtrl->setOrientation(orn[0],orn[1],orn[2],orn[3]);
m_physCtrl->calcXform();
}
}
/* ------------------------------------------------------------------------- */
/* Python functions */
/* ------------------------------------------------------------------------- */
/* Integration hooks ------------------------------------------------------- */
PyTypeObject KX_RadarSensor::Type = {
PyObject_HEAD_INIT(&PyType_Type)
0,
"KX_RadarSensor",
sizeof(KX_RadarSensor),
0,
PyDestructor,
0,
__getattr,
__setattr,
0, //&MyPyCompare,
__repr,
0, //&cvalue_as_number,
0,
0,
0,
0
};
PyParentObject KX_RadarSensor::Parents[] = {
&KX_RadarSensor::Type,
&KX_NearSensor::Type,
&KX_TouchSensor::Type,
&SCA_ISensor::Type,
&SCA_ILogicBrick::Type,
&CValue::Type,
NULL
};
PyMethodDef KX_RadarSensor::Methods[] = {
{"getConeOrigin", (PyCFunction) KX_RadarSensor::sPyGetConeOrigin,
METH_VARARGS, GetConeOrigin_doc},
{"getConeTarget", (PyCFunction) KX_RadarSensor::sPyGetConeTarget,
METH_VARARGS, GetConeTarget_doc},
{"getConeHeight", (PyCFunction) KX_RadarSensor::sPyGetConeHeight,
METH_VARARGS, GetConeHeight_doc},
{NULL,NULL,NULL,NULL} //Sentinel
};
PyObject* KX_RadarSensor::_getattr(const STR_String& attr) {
_getattr_up(KX_TouchSensor);
}
/* getConeOrigin */
char KX_RadarSensor::GetConeOrigin_doc[] =
"getConeOrigin()\n"
"\tReturns the origin of the cone with which to test. The origin\n"
"\tis in the middle of the cone.";
PyObject* KX_RadarSensor::PyGetConeOrigin(PyObject* self,
PyObject* args,
PyObject* kwds) {
PyObject *retVal = PyList_New(3);
PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_cone_origin[0]));
PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_cone_origin[1]));
PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_cone_origin[2]));
return retVal;
}
/* getConeOrigin */
char KX_RadarSensor::GetConeTarget_doc[] =
"getConeTarget()\n"
"\tReturns the center of the bottom face of the cone with which to test.\n";
PyObject* KX_RadarSensor::PyGetConeTarget(PyObject* self,
PyObject* args,
PyObject* kwds) {
PyObject *retVal = PyList_New(3);
PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_cone_target[0]));
PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_cone_target[1]));
PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_cone_target[2]));
return retVal;
}
/* getConeOrigin */
char KX_RadarSensor::GetConeHeight_doc[] =
"getConeHeight()\n"
"\tReturns the height of the cone with which to test.\n";
PyObject* KX_RadarSensor::PyGetConeHeight(PyObject* self,
PyObject* args,
PyObject* kwds) {
return PyFloat_FromDouble(m_coneheight);
}