// 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);
}
}
