// next arguments probably contain redundant info, for later... void RAS_OpenGLRasterizer::SetViewMatrix(const MT_Matrix4x4 &mat, const MT_Matrix3x3 & camOrientMat3x3, const MT_Point3 & pos, bool perspective) { m_viewmatrix = mat; // correction for stereo if (Stereo() && perspective) { MT_Vector3 unitViewDir(0.0, -1.0, 0.0); // minus y direction, Blender convention MT_Vector3 unitViewupVec(0.0, 0.0, 1.0); MT_Vector3 viewDir, viewupVec; MT_Vector3 eyeline; // actual viewDir viewDir = camOrientMat3x3 * unitViewDir; // this is the moto convention, vector on right hand side // actual viewup vec viewupVec = camOrientMat3x3 * unitViewupVec; // vector between eyes eyeline = viewDir.cross(viewupVec); switch (m_curreye) { case RAS_STEREO_LEFTEYE: { // translate to left by half the eye distance MT_Transform transform; transform.setIdentity(); transform.translate(-(eyeline * m_eyeseparation / 2.0)); m_viewmatrix *= transform; } break; case RAS_STEREO_RIGHTEYE: { // translate to right by half the eye distance MT_Transform transform; transform.setIdentity(); transform.translate(eyeline * m_eyeseparation / 2.0); m_viewmatrix *= transform; } break; } } m_viewinvmatrix = m_viewmatrix; m_viewinvmatrix.invert(); // note: getValue gives back column major as needed by OpenGL MT_Scalar glviewmat[16]; m_viewmatrix.getValue(glviewmat); glMatrixMode(GL_MODELVIEW); glLoadMatrixd(glviewmat); m_campos = pos; }
/** * 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 SENS_RADAR_X_AXIS: // +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 SENS_RADAR_Y_AXIS: // +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 SENS_RADAR_Z_AXIS: // +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 SENS_RADAR_NEG_X_AXIS: // -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 SENS_RADAR_NEG_Y_AXIS: // -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 SENS_RADAR_NEG_Z_AXIS: // -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: { } } //Using a temp variable to translate MT_Point3 to float[3]. //float[3] works better for the Python interface. MT_Point3 temp = trans.getOrigin(); m_cone_origin[0] = temp[0]; m_cone_origin[1] = temp[1]; m_cone_origin[2] = temp[2]; temp = trans(MT_Point3(0, -m_coneheight/2.0 ,0)); m_cone_target[0] = temp[0]; m_cone_target[1] = temp[1]; m_cone_target[2] = temp[2]; if (m_physCtrl) { PHY_IMotionState* motionState = m_physCtrl->GetMotionState(); const MT_Point3& pos = trans.getOrigin(); float ori[12]; trans.getBasis().getValue(ori); motionState->setWorldPosition(pos[0], pos[1], pos[2]); motionState->setWorldOrientation(ori); m_physCtrl->WriteMotionStateToDynamics(true); } }