/* this function is used to pre-filter the object before casting the ray on them.
* This is useful for "X-Ray" option when we want to see "through" unwanted object.
*/
bool KX_MouseFocusSensor::NeedRayCast(KX_ClientObjectInfo* client)
{
KX_GameObject *hitKXObj = client->m_gameobject;
if (client->m_type > KX_ClientObjectInfo::ACTOR)
{
// Unknown type of object, skip it.
// Should not occur as the sensor objects are filtered in RayTest()
printf("Invalid client type %d found ray casting\n", client->m_type);
return false;
}
if (m_bXRay && m_propertyname.Length() != 0)
{
if (m_bFindMaterial)
{
bool found = false;
for (unsigned int i = 0; i < hitKXObj->GetMeshCount(); ++i) {
RAS_MeshObject *meshObj = hitKXObj->GetMesh(i);
for (unsigned int j = 0; j < meshObj->NumMaterials(); ++j) {
found = strcmp(m_propertyname.ReadPtr(), meshObj->GetMaterialName(j).ReadPtr() + 2) == 0;
if (found)
break;
}
}
if (!found)
return false;
}
else
{
if (hitKXObj->GetProperty(m_propertyname) == NULL)
return false;
}
}
return true;
}
// this function is called at broad phase stage to check if the two controller
// need to interact at all. It is used for Near/Radar sensor that don't need to
// check collision with object not included in filter
bool KX_NearSensor::BroadPhaseFilterCollision(void*obj1,void*obj2)
{
KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
// need the mapping from PHY_IPhysicsController to gameobjects now
assert(obj1==m_physCtrl && obj2);
KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>((static_cast<PHY_IPhysicsController*>(obj2))->GetNewClientInfo());
KX_GameObject* gameobj = ( client_info ?
client_info->m_gameobject :
NULL);
if (gameobj && (gameobj != parent))
{
// only take valid colliders
if (client_info->m_type == KX_ClientObjectInfo::ACTOR)
{
if ((m_touchedpropname.size() == 0) ||
(gameobj->GetProperty(m_touchedpropname)))
{
return true;
}
}
}
return false;
}
bool KX_TouchSensor::NewHandleCollision(void*object1,void*object2,const PHY_CollData* colldata)
{
// KX_TouchEventManager* toucheventmgr = (KX_TouchEventManager*)m_eventmgr;
KX_GameObject* parent = (KX_GameObject*)GetParent();
// need the mapping from PHY_IPhysicsController to gameobjects now
KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*> (object1 == m_physCtrl?
((PHY_IPhysicsController*)object2)->GetNewClientInfo():
((PHY_IPhysicsController*)object1)->GetNewClientInfo());
KX_GameObject* gameobj = ( client_info ?
client_info->m_gameobject :
NULL);
// add the same check as in SCA_ISensor::Activate(),
// we don't want to record collision when the sensor is not active.
if (m_links && !m_suspended &&
gameobj && (gameobj != parent) && client_info->isActor())
{
bool found = m_touchedpropname.IsEmpty();
bool hitMaterial = false;
if (!found)
{
if (m_bFindMaterial) {
for (unsigned int i = 0; i < gameobj->GetMeshCount(); ++i) {
RAS_MeshObject *meshObj = gameobj->GetMesh(i);
for (unsigned int j = 0; j < meshObj->NumMaterials(); ++j) {
found = strcmp(m_touchedpropname.ReadPtr(), meshObj->GetMaterialName(j).ReadPtr() + 2) == 0;
if (found) {
hitMaterial = true;
break;
}
}
}
}
else {
found = (gameobj->GetProperty(m_touchedpropname) != NULL);
}
}
if (found)
{
if (!m_colliders->SearchValue(gameobj)) {
m_colliders->Add(gameobj->AddRef());
if (m_bTouchPulse)
m_bColliderHash += (uint_ptr)(static_cast<void *>(&gameobj));
}
m_bTriggered = true;
m_hitObject = gameobj;
m_hitMaterial = hitMaterial;
//printf("KX_TouchSensor::HandleCollision\n");
}
}
return false; // was DT_CONTINUE but this was defined in sumo as false.
}
PyObject *BL_ArmatureActuator::pyattr_get_object(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
{
BL_ArmatureActuator* actuator = static_cast<BL_ArmatureActuator*>(self);
KX_GameObject *target = (attrdef->m_name == "target") ? actuator->m_gametarget : actuator->m_gamesubtarget;
if (!target)
Py_RETURN_NONE;
else
return target->GetProxy();
}
const char* KX_BulletPhysicsController::getName()
{
if (m_pObject)
{
KX_GameObject* gameobj = (KX_GameObject*) m_pObject->GetSGClientObject();
return gameobj->GetName();
}
return 0;
}
void KX_BlenderSceneConverter::ResetPhysicsObjectsAnimationIpo(bool clearIpo)
{
//TODO this entire function is deprecated, written for 2.4x
//the functionality should be rewritten, currently it does nothing
KX_SceneList *scenes = m_ketsjiEngine->CurrentScenes();
int numScenes = scenes->size();
int i;
for (i = 0; i < numScenes; i++) {
KX_Scene *scene = scenes->at(i);
CListValue *parentList = scene->GetRootParentList();
int numObjects = parentList->GetCount();
int g;
for (g = 0; g < numObjects; g++) {
KX_GameObject *gameObj = (KX_GameObject *)parentList->GetValue(g);
if (gameObj->IsRecordAnimation()) {
Object *blenderObject = gameObj->GetBlenderObject();
if (blenderObject) {
#if 0
//erase existing ipo's
Ipo* ipo = blenderObject->ipo;//findIpoForName(blenderObject->id.name+2);
if (ipo) { //clear the curve data
if (clearIpo) {//rcruiz
IpoCurve *icu1;
int numCurves = 0;
for ( icu1 = (IpoCurve*)ipo->curve.first; icu1; ) {
IpoCurve* tmpicu = icu1;
/*int i;
BezTriple *bezt;
for ( bezt = tmpicu->bezt, i = 0; i < tmpicu->totvert; i++, bezt++) {
printf("(%f,%f,%f),(%f,%f,%f),(%f,%f,%f)\n",bezt->vec[0][0],bezt->vec[0][1],bezt->vec[0][2],bezt->vec[1][0],bezt->vec[1][1],bezt->vec[1][2],bezt->vec[2][0],bezt->vec[2][1],bezt->vec[2][2]);
}*/
icu1 = icu1->next;
numCurves++;
BLI_remlink( &( blenderObject->ipo->curve ), tmpicu );
if ( tmpicu->bezt )
MEM_freeN( tmpicu->bezt );
MEM_freeN( tmpicu );
localDel_ipoCurve( tmpicu );
}
}
}
else {
ipo = NULL; // XXX add_ipo(blenderObject->id.name+2, ID_OB);
blenderObject->ipo = ipo;
}
#endif
}
}
}
}
}
void BL_ActionActuator::DecLink()
{
SCA_IActuator::DecLink();
/* In this case no controllers use this action actuator,
and it should stop its action. */
if (m_links == 0) {
KX_GameObject *obj = (KX_GameObject *)GetParent();
obj->StopAction(m_layer);
}
}
KX_ObjectActuator::
KX_ObjectActuator(
SCA_IObject* gameobj,
KX_GameObject* refobj,
const MT_Vector3& force,
const MT_Vector3& torque,
const MT_Vector3& dloc,
const MT_Vector3& drot,
const MT_Vector3& linV,
const MT_Vector3& angV,
const short damping,
const KX_LocalFlags& flag
) :
SCA_IActuator(gameobj, KX_ACT_OBJECT),
m_force(force),
m_torque(torque),
m_dloc(dloc),
m_drot(drot),
m_linear_velocity(linV),
m_angular_velocity(angV),
m_linear_length2(0.0f),
m_current_linear_factor(0.0f),
m_current_angular_factor(0.0f),
m_damping(damping),
m_previous_error(0.0f,0.0f,0.0f),
m_error_accumulator(0.0f,0.0f,0.0f),
m_bitLocalFlag (flag),
m_reference(refobj),
m_active_combined_velocity (false),
m_linear_damping_active(false),
m_angular_damping_active(false),
m_jumping(false)
{
if (m_bitLocalFlag.ServoControl)
{
// in servo motion, the force is local if the target velocity is local
m_bitLocalFlag.Force = m_bitLocalFlag.LinearVelocity;
m_pid = m_torque;
}
if (m_bitLocalFlag.CharacterMotion)
{
KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent());
PHY_ICharacter *character = parent->GetScene()->GetPhysicsEnvironment()->GetCharacterController(parent);
if (!character)
{
printf("Character motion enabled on non-character object (%s), falling back to simple motion.\n", parent->GetName().Ptr());
m_bitLocalFlag.CharacterMotion = false;
}
}
if (m_reference)
m_reference->RegisterActuator(this);
UpdateFuzzyFlags();
}
PyObject* KX_PythonComponent::pyattr_get_object(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
KX_PythonComponent *self = static_cast<KX_PythonComponent *>(self_v);
KX_GameObject *gameobj = self->GetGameObject();
if (gameobj) {
return gameobj->GetProxy();
}
else {
Py_RETURN_NONE;
}
}
PyObject *KX_VehicleWrapper::PyAddWheel(PyObject *args)
{
PyObject *pylistPos,*pylistDir,*pylistAxleDir;
PyObject *wheelGameObject;
float suspensionRestLength,wheelRadius;
int hasSteering;
if (PyArg_ParseTuple(args,"OOOOffi:addWheel",&wheelGameObject,&pylistPos,&pylistDir,&pylistAxleDir,&suspensionRestLength,&wheelRadius,&hasSteering))
{
KX_GameObject *gameOb;
if (!ConvertPythonToGameObject(wheelGameObject, &gameOb, false, "vehicle.addWheel(...): KX_VehicleWrapper (first argument)"))
return NULL;
if (gameOb->GetSGNode())
{
MT_Vector3 attachPos,attachDir,attachAxle;
if(!PyVecTo(pylistPos,attachPos)) {
PyErr_SetString(PyExc_AttributeError,
"addWheel(...) Unable to add wheel. attachPos must be a vector with 3 elements.");
return NULL;
}
if(!PyVecTo(pylistDir,attachDir)) {
PyErr_SetString(PyExc_AttributeError,
"addWheel(...) Unable to add wheel. downDir must be a vector with 3 elements.");
return NULL;
}
if(!PyVecTo(pylistAxleDir,attachAxle)) {
PyErr_SetString(PyExc_AttributeError,
"addWheel(...) Unable to add wheel. axleDir must be a vector with 3 elements.");
return NULL;
}
//someone reverse some conventions inside Bullet (axle winding)
attachAxle = -attachAxle;
if(wheelRadius<=0) {
PyErr_SetString(PyExc_AttributeError,
"addWheel(...) Unable to add wheel. wheelRadius must be positive.");
return NULL;
}
PHY_IMotionState *motionState = new KX_MotionState(gameOb->GetSGNode());
m_vehicle->AddWheel(motionState,attachPos,attachDir,attachAxle,suspensionRestLength,wheelRadius,hasSteering);
}
} else {
return NULL;
}
Py_RETURN_NONE;
}
KX_SteeringActuator::KX_SteeringActuator(SCA_IObject *gameobj,
int mode,
KX_GameObject *target,
KX_GameObject *navmesh,
float distance,
float velocity,
float acceleration,
float turnspeed,
bool isSelfTerminated,
int pathUpdatePeriod,
KX_ObstacleSimulation* simulation,
short facingmode,
bool normalup,
bool enableVisualization,
bool lockzvel)
: SCA_IActuator(gameobj, KX_ACT_STEERING),
m_target(target),
m_mode(mode),
m_distance(distance),
m_velocity(velocity),
m_acceleration(acceleration),
m_turnspeed(turnspeed),
m_simulation(simulation),
m_updateTime(0),
m_obstacle(NULL),
m_isActive(false),
m_isSelfTerminated(isSelfTerminated),
m_enableVisualization(enableVisualization),
m_facingMode(facingmode),
m_normalUp(normalup),
m_pathLen(0),
m_pathUpdatePeriod(pathUpdatePeriod),
m_lockzvel(lockzvel),
m_wayPointIdx(-1),
m_steerVec(MT_Vector3(0, 0, 0))
{
m_navmesh = static_cast<KX_NavMeshObject*>(navmesh);
if (m_navmesh)
m_navmesh->RegisterActuator(this);
if (m_target)
m_target->RegisterActuator(this);
if (m_simulation)
m_obstacle = m_simulation->GetObstacle((KX_GameObject*)gameobj);
KX_GameObject* parent = ((KX_GameObject*)gameobj)->GetParent();
if (m_facingMode>0 && parent)
{
m_parentlocalmat = parent->GetSGNode()->GetLocalOrientation();
}
else
m_parentlocalmat.setIdentity();
}
void KX_CollisionSensor::ReParent(SCA_IObject *parent)
{
KX_GameObject *gameobj = static_cast<KX_GameObject *>(parent);
PHY_IPhysicsController *sphy = ((KX_GameObject *)parent)->GetPhysicsController();
if (sphy) {
m_physCtrl = sphy;
}
KX_ClientObjectInfo *client_info = gameobj->getClientInfo();
client_info->m_sensors.push_back(this);
SCA_ISensor::ReParent(parent);
}
bool KX_MouseFocusSensor::RayHit(KX_ClientObjectInfo *client_info, KX_RayCast *result, void * const data)
{
KX_GameObject* hitKXObj = client_info->m_gameobject;
/* Is this me? In the ray test, there are a lot of extra checks
* for aliasing artifacts from self-hits. That doesn't happen
* here, so a simple test suffices. Or does the camera also get
* self-hits? (No, and the raysensor shouldn't do it either, since
* self-hits are excluded by setting the correct ignore-object.)
* Hitspots now become valid. */
KX_GameObject* thisObj = (KX_GameObject*) GetParent();
bool bFound = false;
if ((m_focusmode == 2) || hitKXObj == thisObj)
{
if (m_propertyname.Length() == 0)
{
bFound = true;
}
else
{
if (m_bFindMaterial) {
for (unsigned int i = 0; i < hitKXObj->GetMeshCount(); ++i) {
RAS_MeshObject *meshObj = hitKXObj->GetMesh(i);
for (unsigned int j = 0; j < meshObj->NumMaterials(); ++j) {
bFound = strcmp(m_propertyname.ReadPtr(), meshObj->GetMaterialName(j).ReadPtr() + 2) == 0;
if (bFound)
break;
}
}
}
else {
bFound = hitKXObj->GetProperty(m_propertyname) != NULL;
}
}
if (bFound)
{
m_hitObject = hitKXObj;
m_hitPosition = result->m_hitPoint;
m_hitNormal = result->m_hitNormal;
m_hitUV = result->m_hitUV;
return true;
}
}
return true; // object must be visible to trigger
//return false; // occluded objects can trigger
}
void KX_TouchSensor::ReParent(SCA_IObject* parent)
{
KX_GameObject *gameobj = static_cast<KX_GameObject *>(parent);
PHY_IPhysicsController *sphy = ((KX_GameObject*)parent)->GetPhysicsController();
if (sphy)
m_physCtrl = sphy;
// m_solidHandle = m_sumoObj->getObjectHandle();
KX_ClientObjectInfo *client_info = gameobj->getClientInfo();
//client_info->m_gameobject = gameobj;
//client_info->m_auxilary_info = NULL;
client_info->m_sensors.push_back(this);
SCA_ISensor::ReParent(parent);
}
KX_BulletPhysicsController::~KX_BulletPhysicsController ()
{
// The game object has a direct link to
if (m_pObject)
{
// If we cheat in SetObject, we must also cheat here otherwise the
// object will still things it has a physical controller
// Note that it requires that m_pObject is reset in case the object is deleted
// before the controller (usual case, see KX_Scene::RemoveNodeDestructObjec)
// The non usual case is when the object is not deleted because its reference is hanging
// in a AddObject actuator but the node is deleted. This case is covered here.
KX_GameObject* gameobj = (KX_GameObject*) m_pObject->GetSGClientObject();
gameobj->SetPhysicsController(NULL,false);
}
}
void KX_BlenderMaterial::setObjectMatrixData(int i, RAS_IRasterizer *ras)
{
KX_GameObject *obj =
(KX_GameObject*)
mScene->GetObjectList()->FindValue(mMaterial->mapping[i].objconame);
if (!obj) return;
glTexGeni(GL_S, GL_TEXTURE_GEN_MODE, GL_EYE_LINEAR );
glTexGeni(GL_T, GL_TEXTURE_GEN_MODE, GL_EYE_LINEAR );
glTexGeni(GL_R, GL_TEXTURE_GEN_MODE, GL_EYE_LINEAR );
GLenum plane = GL_EYE_PLANE;
// figure plane gen
float proj[4] = {0.f,0.f,0.f,0.f};
GetProjPlane(mMaterial, i, 0, proj);
glTexGenfv(GL_S, plane, proj);
GetProjPlane(mMaterial, i, 1, proj);
glTexGenfv(GL_T, plane, proj);
GetProjPlane(mMaterial, i, 2, proj);
glTexGenfv(GL_R, plane, proj);
glEnable(GL_TEXTURE_GEN_S);
glEnable(GL_TEXTURE_GEN_T);
glEnable(GL_TEXTURE_GEN_R);
const MT_Matrix4x4& mvmat = ras->GetViewMatrix();
glMatrixMode(GL_TEXTURE);
glLoadIdentity();
glScalef(
mMaterial->mapping[i].scale[0],
mMaterial->mapping[i].scale[1],
mMaterial->mapping[i].scale[2]
);
MT_Point3 pos = obj->NodeGetWorldPosition();
MT_Vector4 matmul = MT_Vector4(pos[0], pos[1], pos[2], 1.f);
MT_Vector4 t = mvmat*matmul;
glTranslatef( (float)(-t[0]), (float)(-t[1]), (float)(-t[2]) );
glMatrixMode(GL_MODELVIEW);
}
bool
KX_VisibilityActuator::Update()
{
bool bNegativeEvent = IsNegativeEvent();
RemoveAllEvents();
if (bNegativeEvent) return false;
KX_GameObject *obj = (KX_GameObject*) GetParent();
obj->SetVisible(m_visible, m_recursive);
obj->SetOccluder(m_occlusion, m_recursive);
obj->UpdateBuckets(m_recursive);
return false;
}
void KX_NearSensor::SynchronizeTransform()
{
// The near and radar sensors are using a different physical object which is
// not linked to the parent object, must synchronize it.
if (m_physCtrl)
{
PHY_IMotionState* motionState = m_physCtrl->GetMotionState();
KX_GameObject* parent = ((KX_GameObject*)GetParent());
const MT_Vector3& pos = parent->NodeGetWorldPosition();
float ori[12];
parent->NodeGetWorldOrientation().getValue(ori);
motionState->SetWorldPosition(pos[0], pos[1], pos[2]);
motionState->SetWorldOrientation(ori);
m_physCtrl->WriteMotionStateToDynamics(true);
}
}
void KX_BlenderSceneConverter::TestHandlesPhysicsObjectToAnimationIpo()
{
KX_SceneList *scenes = m_ketsjiEngine->CurrentScenes();
int numScenes = scenes->size();
int i;
for (i = 0; i < numScenes; i++) {
KX_Scene *scene = scenes->at(i);
//PHY_IPhysicsEnvironment* physEnv = scene->GetPhysicsEnvironment();
CListValue *parentList = scene->GetRootParentList();
int numObjects = parentList->GetCount();
int g;
for (g = 0; g < numObjects; g++) {
KX_GameObject *gameObj = (KX_GameObject *)parentList->GetValue(g);
if (gameObj->IsRecordAnimation()) {
Object *blenderObject = gameObj->GetBlenderObject();
if (blenderObject && blenderObject->adt) {
bAction *act = verify_adt_action(&blenderObject->id, false);
FCurve *fcu;
if (!act) {
continue;
}
/* for now, not much choice but to run this on all curves... */
for (fcu = (FCurve *)act->curves.first; fcu; fcu = fcu->next) {
/* Note: calling `sort_time_fcurve()` here is not needed, since
* all keys have been added in 'right' order. */
calchandles_fcurve(fcu);
}
#if 0
// XXX animato
Ipo* ipo = blenderObject->ipo;
//create the curves, if not existing
//testhandles_ipocurve checks for NULL
testhandles_ipocurve(findIpoCurve((IpoCurve *)ipo->curve.first,"LocX"));
testhandles_ipocurve(findIpoCurve((IpoCurve *)ipo->curve.first,"LocY"));
testhandles_ipocurve(findIpoCurve((IpoCurve *)ipo->curve.first,"LocZ"));
testhandles_ipocurve(findIpoCurve((IpoCurve *)ipo->curve.first,"RotX"));
testhandles_ipocurve(findIpoCurve((IpoCurve *)ipo->curve.first,"RotY"));
testhandles_ipocurve(findIpoCurve((IpoCurve *)ipo->curve.first,"RotZ"));
#endif
}
}
}
}
}
void KX_BlenderSceneConverter::TestHandlesPhysicsObjectToAnimationIpo()
{
KX_SceneList* scenes = m_ketsjiEngine->CurrentScenes();
int numScenes = scenes->size();
int i;
for (i=0;i<numScenes;i++)
{
KX_Scene* scene = scenes->at(i);
//PHY_IPhysicsEnvironment* physEnv = scene->GetPhysicsEnvironment();
CListValue* parentList = scene->GetRootParentList();
int numObjects = parentList->GetCount();
int g;
for (g=0;g<numObjects;g++)
{
KX_GameObject* gameObj = (KX_GameObject*)parentList->GetValue(g);
if (gameObj->IsDynamic())
{
//KX_IPhysicsController* physCtrl = gameObj->GetPhysicsController();
Object* blenderObject = gameObj->GetBlenderObject();
if (blenderObject && blenderObject->ipo)
{
// XXX animato
#if 0
Ipo* ipo = blenderObject->ipo;
//create the curves, if not existing
//testhandles_ipocurve checks for NULL
testhandles_ipocurve(findIpoCurve((IpoCurve *)ipo->curve.first,"LocX"));
testhandles_ipocurve(findIpoCurve((IpoCurve *)ipo->curve.first,"LocY"));
testhandles_ipocurve(findIpoCurve((IpoCurve *)ipo->curve.first,"LocZ"));
testhandles_ipocurve(findIpoCurve((IpoCurve *)ipo->curve.first,"RotX"));
testhandles_ipocurve(findIpoCurve((IpoCurve *)ipo->curve.first,"RotY"));
testhandles_ipocurve(findIpoCurve((IpoCurve *)ipo->curve.first,"RotZ"));
#endif
}
}
}
}
}
SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
{
PHY_IMotionState* motionstate = new KX_MotionState(destnode);
KX_BulletPhysicsController* physicsreplica = new KX_BulletPhysicsController(*this);
//parentcontroller is here be able to avoid collisions between parent/child
PHY_IPhysicsController* parentctrl = NULL;
KX_BulletPhysicsController* parentKxCtrl = NULL;
CcdPhysicsController* ccdParent = NULL;
if (destnode != destnode->GetRootSGParent())
{
KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
if (clientgameobj)
{
parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
} else
{
// it could be a false node, try the children
NodeList::const_iterator childit;
for (
childit = destnode->GetSGChildren().begin();
childit!= destnode->GetSGChildren().end();
++childit
) {
KX_GameObject *clientgameobj_child = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
if (clientgameobj_child)
{
parentKxCtrl = (KX_BulletPhysicsController*)clientgameobj_child->GetPhysicsController();
parentctrl = parentKxCtrl;
ccdParent = parentKxCtrl;
}
}
}
}
physicsreplica->setParentCtrl(ccdParent);
physicsreplica->PostProcessReplica(motionstate,parentctrl);
physicsreplica->m_userdata = (PHY_IPhysicsController*)physicsreplica;
physicsreplica->m_bulletChildShape = NULL;
return physicsreplica;
}
PyObject* KX_VehicleWrapper::PyAddWheel(PyObject* args)
{
PyObject* pylistPos,*pylistDir,*pylistAxleDir;
PyObject* wheelGameObject;
float suspensionRestLength,wheelRadius;
int hasSteering;
if (PyArg_ParseTuple(args,"OOOOffi:addWheel",&wheelGameObject,&pylistPos,&pylistDir,&pylistAxleDir,&suspensionRestLength,&wheelRadius,&hasSteering))
{
KX_GameObject *gameOb;
if (!ConvertPythonToGameObject(wheelGameObject, &gameOb, false, "vehicle.addWheel(...): KX_VehicleWrapper (first argument)"))
return NULL;
if (gameOb->GetSGNode())
{
PHY_IMotionState* motionState = new KX_MotionState(gameOb->GetSGNode());
/* TODO - no error checking here! - bad juju */
MT_Vector3 attachPos,attachDir,attachAxle;
PyVecTo(pylistPos,attachPos);
PyVecTo(pylistDir,attachDir);
PyVecTo(pylistAxleDir,attachAxle);
PHY__Vector3 aPos,aDir,aAxle;
aPos[0] = attachPos[0];
aPos[1] = attachPos[1];
aPos[2] = attachPos[2];
aDir[0] = attachDir[0];
aDir[1] = attachDir[1];
aDir[2] = attachDir[2];
aAxle[0] = -attachAxle[0];//someone reverse some conventions inside Bullet (axle winding)
aAxle[1] = -attachAxle[1];
aAxle[2] = -attachAxle[2];
printf("attempt for addWheel: suspensionRestLength%f wheelRadius %f, hasSteering:%d\n",suspensionRestLength,wheelRadius,hasSteering);
m_vehicle->AddWheel(motionState,aPos,aDir,aAxle,suspensionRestLength,wheelRadius,hasSteering);
}
} else {
return NULL;
}
Py_RETURN_NONE;
}
void KX_BulletPhysicsController::SetObject (SG_IObject* object)
{
SG_Controller::SetObject(object);
// cheating here...
//should not be necessary, is it for duplicates ?
KX_GameObject* gameobj = (KX_GameObject*) object->GetSGClientObject();
gameobj->SetPhysicsController(this,gameobj->IsDynamic());
CcdPhysicsController::setNewClientInfo(gameobj->getClientInfo());
if (m_bSensor)
{
// use a different callback function for sensor object,
// bullet will not synchronize, we must do it explicitly
SG_Callbacks& callbacks = gameobj->GetSGNode()->GetCallBackFunctions();
callbacks.m_updatefunc = KX_GameObject::SynchronizeTransformFunc;
}
}
bool KX_RaySensor::RayHit(KX_ClientObjectInfo *client, KX_RayCast *result, void * const data)
{
KX_GameObject* hitKXObj = client->m_gameobject;
bool bFound = false;
if (m_propertyname.Length() == 0)
{
bFound = true;
}
else
{
if (m_bFindMaterial)
{
if (client->m_auxilary_info)
{
bFound = (m_propertyname== ((char*)client->m_auxilary_info));
}
}
else
{
bFound = hitKXObj->GetProperty(m_propertyname) != NULL;
}
}
if (bFound)
{
m_rayHit = true;
m_hitObject = hitKXObj;
m_hitPosition[0] = result->m_hitPoint[0];
m_hitPosition[1] = result->m_hitPoint[1];
m_hitPosition[2] = result->m_hitPoint[2];
m_hitNormal[0] = result->m_hitNormal[0];
m_hitNormal[1] = result->m_hitNormal[1];
m_hitNormal[2] = result->m_hitNormal[2];
m_hitMaterial = (client->m_auxilary_info ? (char*)client->m_auxilary_info : "");
}
// no multi-hit search yet
return true;
}
// get pointer to material
RAS_IPolyMaterial * getMaterial (PyObject *obj, short matID)
{
// if object is available
if (obj != NULL)
{
// get pointer to texture image
KX_GameObject * gameObj = gameObjectType.checkType(obj);
if (gameObj != NULL && gameObj->GetMeshCount() > 0)
{
// get material from mesh
RAS_MeshObject * mesh = gameObj->GetMesh(0);
RAS_MeshMaterial *meshMat = mesh->GetMeshMaterial(matID);
if (meshMat != NULL && meshMat->m_bucket != NULL)
// return pointer to polygon or blender material
return meshMat->m_bucket->GetPolyMaterial();
}
}
// otherwise material was not found
return NULL;
}
bool KX_SCA_DynamicActuator::Update()
{
// bool result = false; /*unused*/
KX_GameObject *obj = (KX_GameObject*) GetParent();
bool bNegativeEvent = IsNegativeEvent();
PHY_IPhysicsController* controller;
RemoveAllEvents();
if (bNegativeEvent)
return false; // do nothing on negative events
if (!obj)
return false; // object not accessible, shouldnt happen
controller = obj->GetPhysicsController();
if (!controller)
return false; // no physic object
switch (m_dyn_operation)
{
case 0:
// Child objects must be static, so we block changing to dynamic
if (!obj->GetParent())
controller->RestoreDynamics();
break;
case 1:
controller->SuspendDynamics();
break;
case 2:
controller->SetRigidBody(true);
break;
case 3:
controller->SetRigidBody(false);
break;
case 4:
controller->SetMass(m_setmass);
break;
}
return false;
}
bool KX_ParentActuator::Update()
{
bool bNegativeEvent = IsNegativeEvent();
RemoveAllEvents();
if (bNegativeEvent)
return false; // do nothing on negative events
KX_GameObject *obj = (KX_GameObject*) GetParent();
KX_Scene *scene = KX_GetActiveScene();
switch (m_mode) {
case KX_PARENT_SET:
if (m_ob)
obj->SetParent(scene, (KX_GameObject*)m_ob, m_addToCompound, m_ghost);
break;
case KX_PARENT_REMOVE:
obj->RemoveParent(scene);
break;
};
return false;
}
bool KX_NearSensor::NewHandleCollision(void *obj1, void *obj2, const PHY_CollData *coll_data)
{
// KX_CollisionEventManager* toucheventmgr = static_cast<KX_CollisionEventManager*>(m_eventmgr);
// KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
// need the mapping from PHY_IPhysicsController to gameobjects now
KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*> (obj1 == m_physCtrl?
((PHY_IPhysicsController*)obj2)->GetNewClientInfo() :
((PHY_IPhysicsController*)obj1)->GetNewClientInfo());
KX_GameObject* gameobj = ( client_info ?
client_info->m_gameobject :
NULL);
// Add the same check as in SCA_ISensor::Activate(),
// we don't want to record collision when the sensor is not active.
if (m_links && !m_suspended &&
gameobj /* done in BroadPhaseFilterCollision() && (gameobj != parent)*/)
{
if (!m_colliders->SearchValue(gameobj))
m_colliders->Add(gameobj->AddRef());
// only take valid colliders
// These checks are done already in BroadPhaseFilterCollision()
//if (client_info->m_type == KX_ClientObjectInfo::ACTOR)
//{
// if ((m_touchedpropname.size() == 0) ||
// (gameobj->GetProperty(m_touchedpropname)))
// {
m_bTriggered = true;
m_hitObject = gameobj;
// }
//}
}
return false; // was DT_CONTINUE; but this was defined in Sumo as false
}
bool
KX_StateActuator::Update()
{
bool bNegativeEvent = IsNegativeEvent();
unsigned int objMask;
// execution of state actuator means that we are in the execution phase, reset this pointer
// because all the active actuator of this object will be removed for sure.
m_gameobj->m_firstState = NULL;
RemoveAllEvents();
if (bNegativeEvent) return false;
KX_GameObject *obj = (KX_GameObject*) GetParent();
objMask = obj->GetState();
switch (m_operation)
{
case OP_CPY:
objMask = m_mask;
break;
case OP_SET:
objMask |= m_mask;
break;
case OP_CLR:
objMask &= ~m_mask;
break;
case OP_NEG:
objMask ^= m_mask;
break;
default:
// unsupported operation, no nothing
return false;
}
obj->SetState(objMask);
return false;
}
bool KX_TrackToActuator::Update(double curtime, bool frame)
{
bool result = false;
bool bNegativeEvent = IsNegativeEvent();
RemoveAllEvents();
if (bNegativeEvent)
{
// do nothing on negative events
}
else if (m_object)
{
KX_GameObject* curobj = (KX_GameObject*) GetParent();
MT_Vector3 dir = curobj->NodeGetWorldPosition() - ((KX_GameObject*)m_object)->NodeGetWorldPosition();
MT_Matrix3x3 mat;
MT_Matrix3x3 oldmat;
mat = vectomat(dir, m_trackflag, m_upflag, m_allow3D);
oldmat = curobj->NodeGetWorldOrientation();
/* erwin should rewrite this! */
mat = matrix3x3_interpol(oldmat, mat, m_time);
/* check if the model is parented and calculate the child transform */
if (m_parentobj) {
MT_Point3 localpos;
localpos = curobj->GetSGNode()->GetLocalPosition();
// Get the inverse of the parent matrix
MT_Matrix3x3 parentmatinv;
parentmatinv = m_parentobj->NodeGetWorldOrientation().inverse();
// transform the local coordinate system into the parents system
mat = parentmatinv * mat;
// append the initial parent local rotation matrix
mat = m_parentlocalmat * mat;
// set the models tranformation properties
curobj->NodeSetLocalOrientation(mat);
curobj->NodeSetLocalPosition(localpos);
//curobj->UpdateTransform();
}
else {
curobj->NodeSetLocalOrientation(mat);
}
result = true;
}
return result;
}
