Use Benoits attributes in KX_GameObject.
[blender.git] / source / gameengine / Ketsji / KX_GameObject.cpp
1 /**
2  * $Id$
3  *
4  * ***** BEGIN GPL LICENSE BLOCK *****
5  *
6  * This program is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * as published by the Free Software Foundation; either version 2
9  * of the License, or (at your option) any later version.
10  *
11  * This program is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with this program; if not, write to the Free Software Foundation,
18  * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
19  *
20  * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
21  * All rights reserved.
22  *
23  * The Original Code is: all of this file.
24  *
25  * Contributor(s): none yet.
26  *
27  * ***** END GPL LICENSE BLOCK *****
28  * Game object wrapper
29  */
30
31 #ifdef HAVE_CONFIG_H
32 #include <config.h>
33 #endif
34
35 #if defined(_WIN64)
36 typedef unsigned __int64 uint_ptr;
37 #else
38 typedef unsigned long uint_ptr;
39 #endif
40
41 #ifdef WIN32
42 // This warning tells us about truncation of __long__ stl-generated names.
43 // It can occasionally cause DevStudio to have internal compiler warnings.
44 #pragma warning( disable : 4786 )     
45 #endif
46
47
48 #define KX_INERTIA_INFINITE 10000
49 #include "RAS_IPolygonMaterial.h"
50 #include "KX_BlenderMaterial.h"
51 #include "KX_GameObject.h"
52 #include "RAS_MeshObject.h"
53 #include "KX_MeshProxy.h"
54 #include "KX_PolyProxy.h"
55 #include <stdio.h> // printf
56 #include "SG_Controller.h"
57 #include "KX_IPhysicsController.h"
58 #include "SG_Node.h"
59 #include "SG_Controller.h"
60 #include "KX_ClientObjectInfo.h"
61 #include "RAS_BucketManager.h"
62 #include "KX_RayCast.h"
63 #include "KX_PythonInit.h"
64 #include "KX_PyMath.h"
65 #include "SCA_IActuator.h"
66 #include "SCA_ISensor.h"
67
68 #include "PyObjectPlus.h" /* python stuff */
69
70 // This file defines relationships between parents and children
71 // in the game engine.
72
73 #include "KX_SG_NodeRelationships.h"
74
75 KX_GameObject::KX_GameObject(
76         void* sgReplicationInfo,
77         SG_Callbacks callbacks,
78         PyTypeObject* T
79 ) : 
80         SCA_IObject(T),
81         m_bDyna(false),
82         m_layer(0),
83         m_pBlenderObject(NULL),
84         m_pBlenderGroupObject(NULL),
85         m_bSuspendDynamics(false),
86         m_bUseObjectColor(false),
87         m_bIsNegativeScaling(false),
88         m_bVisible(true),
89         m_bCulled(true),
90         m_pPhysicsController1(NULL),
91         m_pPhysicsEnvironment(NULL),
92         m_xray(false),
93         m_pHitObject(NULL),
94         m_isDeformable(false)
95 {
96         m_ignore_activity_culling = false;
97         m_pClient_info = new KX_ClientObjectInfo(this, KX_ClientObjectInfo::ACTOR);
98         m_pSGNode = new SG_Node(this,sgReplicationInfo,callbacks);
99
100         // define the relationship between this node and it's parent.
101         
102         KX_NormalParentRelation * parent_relation = 
103                 KX_NormalParentRelation::New();
104         m_pSGNode->SetParentRelation(parent_relation);
105 };
106
107
108
109 KX_GameObject::~KX_GameObject()
110 {
111         RemoveMeshes();
112
113         // is this delete somewhere ?
114         //if (m_sumoObj)
115         //      delete m_sumoObj;
116         delete m_pClient_info;
117         //if (m_pSGNode)
118         //      delete m_pSGNode;
119         if (m_pSGNode)
120         {
121                 // must go through controllers and make sure they will not use us anymore
122                 // This is important for KX_BulletPhysicsControllers that unregister themselves
123                 // from the object when they are deleted.
124                 SGControllerList::iterator contit;
125                 SGControllerList& controllers = m_pSGNode->GetSGControllerList();
126                 for (contit = controllers.begin();contit!=controllers.end();++contit)
127                 {
128                         (*contit)->ClearObject();
129                 }
130                 m_pSGNode->SetSGClientObject(NULL);
131         }
132 }
133
134
135
136 CValue* KX_GameObject:: Calc(VALUE_OPERATOR op, CValue *val) 
137 {
138         return NULL;
139 }
140
141
142
143 CValue* KX_GameObject::CalcFinal(VALUE_DATA_TYPE dtype, VALUE_OPERATOR op, CValue *val)
144 {
145         return NULL;
146 }
147
148
149
150 const STR_String & KX_GameObject::GetText()
151 {
152         return m_text;
153 }
154
155
156
157 float KX_GameObject::GetNumber()
158 {
159         return 0;
160 }
161
162
163
164 STR_String KX_GameObject::GetName()
165 {
166         return m_name;
167 }
168
169
170
171 void KX_GameObject::SetName(STR_String name)
172 {
173         m_name = name;
174 };                                                              // Set the name of the value
175
176
177
178 void KX_GameObject::ReplicaSetName(STR_String name)
179 {
180 }
181
182
183
184
185
186
187 KX_IPhysicsController* KX_GameObject::GetPhysicsController()
188 {
189         return m_pPhysicsController1;
190 }
191
192
193
194
195
196 KX_GameObject* KX_GameObject::GetParent()
197 {
198         KX_GameObject* result = NULL;
199         SG_Node* node = m_pSGNode;
200         
201         while (node && !result)
202         {
203                 node = node->GetSGParent();
204                 if (node)
205                         result = (KX_GameObject*)node->GetSGClientObject();
206         }
207         
208         if (result)
209                 result->AddRef();
210
211         return result;
212         
213 }
214
215 void KX_GameObject::SetParent(KX_Scene *scene, KX_GameObject* obj)
216 {
217         // check on valid node in case a python controller holds a reference to a deleted object
218         if (obj && GetSGNode() && obj->GetSGNode() && GetSGNode()->GetSGParent() != obj->GetSGNode())
219         {
220                 // Make sure the objects have some scale
221                 MT_Vector3 scale1 = NodeGetWorldScaling();
222                 MT_Vector3 scale2 = obj->NodeGetWorldScaling();
223                 if (fabs(scale2[0]) < FLT_EPSILON || 
224                         fabs(scale2[1]) < FLT_EPSILON || 
225                         fabs(scale2[2]) < FLT_EPSILON || 
226                         fabs(scale1[0]) < FLT_EPSILON || 
227                         fabs(scale1[1]) < FLT_EPSILON || 
228                         fabs(scale1[2]) < FLT_EPSILON) { return; }
229
230                 // Remove us from our old parent and set our new parent
231                 RemoveParent(scene);
232                 obj->GetSGNode()->AddChild(GetSGNode());
233
234                 if (m_pPhysicsController1) 
235                 {
236                         m_pPhysicsController1->SuspendDynamics(true);
237                 }
238                 // Set us to our new scale, position, and orientation
239                 scale2[0] = 1.0/scale2[0];
240                 scale2[1] = 1.0/scale2[1];
241                 scale2[2] = 1.0/scale2[2];
242                 scale1 = scale1 * scale2;
243                 MT_Matrix3x3 invori = obj->NodeGetWorldOrientation().inverse();
244                 MT_Vector3 newpos = invori*(NodeGetWorldPosition()-obj->NodeGetWorldPosition())*scale2;
245
246                 NodeSetLocalScale(scale1);
247                 NodeSetLocalPosition(MT_Point3(newpos[0],newpos[1],newpos[2]));
248                 NodeSetLocalOrientation(invori*NodeGetWorldOrientation());
249                 NodeUpdateGS(0.f,true);
250                 // object will now be a child, it must be removed from the parent list
251                 CListValue* rootlist = scene->GetRootParentList();
252                 if (rootlist->RemoveValue(this))
253                         // the object was in parent list, decrement ref count as it's now removed
254                         Release();
255                 // if the new parent is a compound object, add this object shape to the compound shape.
256                 // step 0: verify this object has physical controller
257                 if (m_pPhysicsController1)
258                 {
259                         // step 1: find the top parent (not necessarily obj)
260                         KX_GameObject* rootobj = (KX_GameObject*)obj->GetSGNode()->GetRootSGParent()->GetSGClientObject();
261                         // step 2: verify it has a physical controller and compound shape
262                         if (rootobj != NULL && 
263                                 rootobj->m_pPhysicsController1 != NULL &&
264                                 rootobj->m_pPhysicsController1->IsCompound())
265                         {
266                                 rootobj->m_pPhysicsController1->AddCompoundChild(m_pPhysicsController1);
267                         }
268                 }
269         }
270 }
271
272 void KX_GameObject::RemoveParent(KX_Scene *scene)
273 {
274         // check on valid node in case a python controller holds a reference to a deleted object
275         if (GetSGNode() && GetSGNode()->GetSGParent())
276         {
277                 // get the root object to remove us from compound object if needed
278                 KX_GameObject* rootobj = (KX_GameObject*)GetSGNode()->GetRootSGParent()->GetSGClientObject();
279                 // Set us to the right spot 
280                 GetSGNode()->SetLocalScale(GetSGNode()->GetWorldScaling());
281                 GetSGNode()->SetLocalOrientation(GetSGNode()->GetWorldOrientation());
282                 GetSGNode()->SetLocalPosition(GetSGNode()->GetWorldPosition());
283
284                 // Remove us from our parent
285                 GetSGNode()->DisconnectFromParent();
286                 NodeUpdateGS(0.f,true);
287                 // the object is now a root object, add it to the parentlist
288                 CListValue* rootlist = scene->GetRootParentList();
289                 if (!rootlist->SearchValue(this))
290                         // object was not in root list, add it now and increment ref count
291                         rootlist->Add(AddRef());
292                 if (m_pPhysicsController1) 
293                 {
294                         // in case this controller was added as a child shape to the parent
295                         if (rootobj != NULL && 
296                                 rootobj->m_pPhysicsController1 != NULL &&
297                                 rootobj->m_pPhysicsController1->IsCompound())
298                         {
299                                 rootobj->m_pPhysicsController1->RemoveCompoundChild(m_pPhysicsController1);
300                         }
301                         m_pPhysicsController1->RestoreDynamics();
302                 }
303         }
304 }
305
306 void KX_GameObject::ProcessReplica(KX_GameObject* replica)
307 {
308         replica->m_pPhysicsController1 = NULL;
309         replica->m_pSGNode = NULL;
310         replica->m_pClient_info = new KX_ClientObjectInfo(*m_pClient_info);
311         replica->m_pClient_info->m_gameobject = replica;
312         replica->m_state = 0;
313 }
314
315
316
317 CValue* KX_GameObject::GetReplica()
318 {
319         KX_GameObject* replica = new KX_GameObject(*this);
320
321         // this will copy properties and so on...
322         CValue::AddDataToReplica(replica);
323         ProcessReplica(replica);
324
325         return replica;
326 }
327
328
329
330 void KX_GameObject::ApplyForce(const MT_Vector3& force,bool local)
331 {
332         if (m_pPhysicsController1)
333                 m_pPhysicsController1->ApplyForce(force,local);
334 }
335
336
337
338 void KX_GameObject::ApplyTorque(const MT_Vector3& torque,bool local)
339 {
340         if (m_pPhysicsController1)
341                 m_pPhysicsController1->ApplyTorque(torque,local);
342 }
343
344
345
346 void KX_GameObject::ApplyMovement(const MT_Vector3& dloc,bool local)
347 {
348         if (m_pPhysicsController1) // (IsDynamic())
349         {
350                 m_pPhysicsController1->RelativeTranslate(dloc,local);
351         }
352         GetSGNode()->RelativeTranslate(dloc,GetSGNode()->GetSGParent(),local);
353 }
354
355
356
357 void KX_GameObject::ApplyRotation(const MT_Vector3& drot,bool local)
358 {
359         MT_Matrix3x3 rotmat(drot);
360
361         GetSGNode()->RelativeRotate(rotmat,local);
362
363         if (m_pPhysicsController1) { // (IsDynamic())
364                 m_pPhysicsController1->RelativeRotate(rotmat,local); 
365         }
366 }
367
368
369
370 /**
371 GetOpenGL Matrix, returns an OpenGL 'compatible' matrix
372 */
373 double* KX_GameObject::GetOpenGLMatrix()
374 {
375         // todo: optimize and only update if necessary
376         double* fl = m_OpenGL_4x4Matrix.getPointer();
377         MT_Transform trans;
378         
379         trans.setOrigin(GetSGNode()->GetWorldPosition());
380         trans.setBasis(GetSGNode()->GetWorldOrientation());
381         
382         MT_Vector3 scaling = GetSGNode()->GetWorldScaling();
383         m_bIsNegativeScaling = ((scaling[0] < 0.0) ^ (scaling[1] < 0.0) ^ (scaling[2] < 0.0)) ? true : false;
384         trans.scale(scaling[0], scaling[1], scaling[2]);
385         trans.getValue(fl);
386
387         return fl;
388 }
389
390 void KX_GameObject::AddMeshUser()
391 {
392         for (size_t i=0;i<m_meshes.size();i++)
393                 m_meshes[i]->AddMeshUser(this);
394         
395         UpdateBuckets(false);
396 }
397
398 static void UpdateBuckets_recursive(SG_Node* node)
399 {
400         NodeList& children = node->GetSGChildren();
401
402         for (NodeList::iterator childit = children.begin();!(childit==children.end());++childit)
403         {
404                 SG_Node* childnode = (*childit);
405                 KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
406                 if (clientgameobj != NULL) // This is a GameObject
407                         clientgameobj->UpdateBuckets(0);
408                 
409                 // if the childobj is NULL then this may be an inverse parent link
410                 // so a non recursive search should still look down this node.
411                 UpdateBuckets_recursive(childnode);
412         }
413 }
414
415 void KX_GameObject::UpdateBuckets( bool recursive )
416 {
417         double* fl = GetOpenGLMatrix();
418
419         for (size_t i=0;i<m_meshes.size();i++)
420                 m_meshes[i]->UpdateBuckets(this, fl, m_bUseObjectColor, m_objectColor, m_bVisible, m_bCulled);
421         
422         if (recursive) {
423                 UpdateBuckets_recursive(m_pSGNode);
424         }
425 }
426
427 void KX_GameObject::RemoveMeshes()
428 {
429         for (size_t i=0;i<m_meshes.size();i++)
430                 m_meshes[i]->RemoveFromBuckets(this);
431
432         //note: meshes can be shared, and are deleted by KX_BlenderSceneConverter
433
434         m_meshes.clear();
435 }
436
437
438
439 void KX_GameObject::UpdateNonDynas()
440 {
441         if (m_pPhysicsController1)
442         {
443                 m_pPhysicsController1->SetSumoTransform(true);
444         }
445 }
446
447
448
449 void KX_GameObject::UpdateTransform()
450 {
451         if (m_pPhysicsController1)
452                 m_pPhysicsController1->SetSumoTransform(false);
453 }
454
455 void KX_GameObject::UpdateTransformFunc(SG_IObject* node, void* gameobj, void* scene)
456 {
457         ((KX_GameObject*)gameobj)->UpdateTransform();
458 }
459
460
461 void KX_GameObject::SetDebugColor(unsigned int bgra)
462 {
463         for (size_t i=0;i<m_meshes.size();i++)
464                 m_meshes[i]->DebugColor(bgra);  
465 }
466
467
468
469 void KX_GameObject::ResetDebugColor()
470 {
471         SetDebugColor(0xff000000);
472 }
473
474 void KX_GameObject::InitIPO(bool ipo_as_force,
475                                                         bool ipo_add,
476                                                         bool ipo_local)
477 {
478         SGControllerList::iterator it = GetSGNode()->GetSGControllerList().begin();
479
480         while (it != GetSGNode()->GetSGControllerList().end()) {
481                 (*it)->SetOption(SG_Controller::SG_CONTR_IPO_RESET, true);
482                 (*it)->SetOption(SG_Controller::SG_CONTR_IPO_IPO_AS_FORCE, ipo_as_force);
483                 (*it)->SetOption(SG_Controller::SG_CONTR_IPO_IPO_ADD, ipo_add);
484                 (*it)->SetOption(SG_Controller::SG_CONTR_IPO_LOCAL, ipo_local);
485                 it++;
486         }
487
488
489 void KX_GameObject::UpdateIPO(float curframetime,
490                                                           bool recurse) 
491 {
492         // just the 'normal' update procedure.
493         GetSGNode()->SetSimulatedTime(curframetime,recurse);
494         GetSGNode()->UpdateWorldData(curframetime);
495         UpdateTransform();
496 }
497
498 // IPO update
499 void 
500 KX_GameObject::UpdateMaterialData(
501                 dword matname_hash,
502                 MT_Vector4 rgba,
503                 MT_Vector3 specrgb,
504                 MT_Scalar hard,
505                 MT_Scalar spec,
506                 MT_Scalar ref,
507                 MT_Scalar emit,
508                 MT_Scalar alpha
509
510         )
511 {
512         int mesh = 0;
513         if (((unsigned int)mesh < m_meshes.size()) && mesh >= 0) {
514                 list<RAS_MeshMaterial>::iterator mit = m_meshes[mesh]->GetFirstMaterial();
515
516                 for(; mit != m_meshes[mesh]->GetLastMaterial(); ++mit)
517                 {
518                         RAS_IPolyMaterial* poly = mit->m_bucket->GetPolyMaterial();
519
520                         if(poly->GetFlag() & RAS_BLENDERMAT )
521                         {
522                                 KX_BlenderMaterial *m =  static_cast<KX_BlenderMaterial*>(poly);
523                                 
524                                 if (matname_hash == 0)
525                                 {
526                                         m->UpdateIPO(rgba, specrgb,hard,spec,ref,emit, alpha);
527                                         // if mesh has only one material attached to it then use original hack with no need to edit vertices (better performance)
528                                         SetObjectColor(rgba);
529                                 }
530                                 else
531                                 {
532                                         if (matname_hash == poly->GetMaterialNameHash())
533                                         {
534                                                 m->UpdateIPO(rgba, specrgb,hard,spec,ref,emit, alpha);
535                                                 m_meshes[mesh]->SetVertexColor(poly,rgba);
536                                                 
537                                                 // no break here, because one blender material can be split into several game engine materials
538                                                 // (e.g. one uvsphere material is split into one material at poles with ras_mode TRIANGLE and one material for the body
539                                                 // if here was a break then would miss some vertices if material was split
540                                         }
541                                 }
542                         }
543                 }
544         }
545 }
546 bool
547 KX_GameObject::GetVisible(
548         void
549         )
550 {
551         return m_bVisible;
552 }
553
554 static void setVisible_recursive(SG_Node* node, bool v)
555 {
556         NodeList& children = node->GetSGChildren();
557
558         for (NodeList::iterator childit = children.begin();!(childit==children.end());++childit)
559         {
560                 SG_Node* childnode = (*childit);
561                 KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
562                 if (clientgameobj != NULL) // This is a GameObject
563                         clientgameobj->SetVisible(v, 0);
564                 
565                 // if the childobj is NULL then this may be an inverse parent link
566                 // so a non recursive search should still look down this node.
567                 setVisible_recursive(childnode, v);
568         }
569 }
570
571
572 void
573 KX_GameObject::SetVisible(
574         bool v,
575         bool recursive
576         )
577 {
578         m_bVisible = v;
579         if (recursive)
580                 setVisible_recursive(m_pSGNode, v);
581 }
582
583 bool
584 KX_GameObject::GetCulled(
585         void
586         )
587 {
588         return m_bCulled;
589 }
590
591 void
592 KX_GameObject::SetCulled(
593         bool c
594         )
595 {
596         m_bCulled = c;
597 }
598
599
600 void
601 KX_GameObject::SetLayer(
602         int l
603         )
604 {
605         m_layer = l;
606 }
607
608 int
609 KX_GameObject::GetLayer(
610         void
611         )
612 {
613         return m_layer;
614 }
615
616 void KX_GameObject::addLinearVelocity(const MT_Vector3& lin_vel,bool local)
617 {
618         if (m_pPhysicsController1) 
619         {
620                 MT_Vector3 lv = local ? NodeGetWorldOrientation() * lin_vel : lin_vel;
621                 m_pPhysicsController1->SetLinearVelocity(lv + m_pPhysicsController1->GetLinearVelocity(), 0);
622         }
623 }
624
625
626
627 void KX_GameObject::setLinearVelocity(const MT_Vector3& lin_vel,bool local)
628 {
629         if (m_pPhysicsController1)
630                 m_pPhysicsController1->SetLinearVelocity(lin_vel,local);
631 }
632
633
634
635 void KX_GameObject::setAngularVelocity(const MT_Vector3& ang_vel,bool local)
636 {
637         if (m_pPhysicsController1)
638                 m_pPhysicsController1->SetAngularVelocity(ang_vel,local);
639 }
640
641
642 void KX_GameObject::ResolveCombinedVelocities(
643         const MT_Vector3 & lin_vel,
644         const MT_Vector3 & ang_vel,
645         bool lin_vel_local,
646         bool ang_vel_local
647 ){
648         if (m_pPhysicsController1)
649         {
650
651                 MT_Vector3 lv = lin_vel_local ? NodeGetWorldOrientation() * lin_vel : lin_vel;
652                 MT_Vector3 av = ang_vel_local ? NodeGetWorldOrientation() * ang_vel : ang_vel;
653                 m_pPhysicsController1->resolveCombinedVelocities(
654                         lv.x(),lv.y(),lv.z(),av.x(),av.y(),av.z());
655         }
656 }
657
658
659 void KX_GameObject::SetObjectColor(const MT_Vector4& rgbavec)
660 {
661         m_bUseObjectColor = true;
662         m_objectColor = rgbavec;
663 }
664
665 void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis, float fac)
666 {
667         MT_Matrix3x3 orimat;
668         MT_Vector3 vect,ori,z,x,y;
669         MT_Scalar len;
670
671         // check on valid node in case a python controller holds a reference to a deleted object
672         if (!GetSGNode())
673                 return;
674
675         vect = dir;
676         len = vect.length();
677         if (MT_fuzzyZero(len))
678         {
679                 cout << "alignAxisToVect() Error: Null vector!\n";
680                 return;
681         }
682         
683         if (fac<=0.0) {
684                 return;
685         }
686         
687         // normalize
688         vect /= len;
689         orimat = GetSGNode()->GetWorldOrientation();
690         switch (axis)
691         {       
692                 case 0: //x axis
693                         ori.setValue(orimat[0][2], orimat[1][2], orimat[2][2]); //pivot axis
694                         if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON) //is the vector paralell to the pivot?
695                                 ori.setValue(orimat[0][1], orimat[1][1], orimat[2][1]); //change the pivot!
696                         if (fac == 1.0) {
697                                 x = vect;
698                         } else {
699                                 x = (vect * fac) + ((orimat * MT_Vector3(1.0, 0.0, 0.0)) * (1-fac));
700                                 len = x.length();
701                                 if (MT_fuzzyZero(len)) x = vect;
702                                 else x /= len;
703                         }
704                         y = ori.cross(x);
705                         z = x.cross(y);
706                         break;
707                 case 1: //y axis
708                         ori.setValue(orimat[0][0], orimat[1][0], orimat[2][0]);
709                         if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON)
710                                 ori.setValue(orimat[0][2], orimat[1][2], orimat[2][2]);
711                         if (fac == 1.0) {
712                                 y = vect;
713                         } else {
714                                 y = (vect * fac) + ((orimat * MT_Vector3(0.0, 1.0, 0.0)) * (1-fac));
715                                 len = y.length();
716                                 if (MT_fuzzyZero(len)) y = vect;
717                                 else y /= len;
718                         }
719                         z = ori.cross(y);
720                         x = y.cross(z);
721                         break;
722                 case 2: //z axis
723                         ori.setValue(orimat[0][1], orimat[1][1], orimat[2][1]);
724                         if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON)
725                                 ori.setValue(orimat[0][0], orimat[1][0], orimat[2][0]);
726                         if (fac == 1.0) {
727                                 z = vect;
728                         } else {
729                                 z = (vect * fac) + ((orimat * MT_Vector3(0.0, 0.0, 1.0)) * (1-fac));
730                                 len = z.length();
731                                 if (MT_fuzzyZero(len)) z = vect;
732                                 else z /= len;
733                         }
734                         x = ori.cross(z);
735                         y = z.cross(x);
736                         break;
737                 default: //wrong input?
738                         cout << "alignAxisToVect(): Wrong axis '" << axis <<"'\n";
739                         return;
740         }
741         x.normalize(); //normalize the vectors
742         y.normalize();
743         z.normalize();
744         orimat.setValue(        x[0],y[0],z[0],
745                                                 x[1],y[1],z[1],
746                                                 x[2],y[2],z[2]);
747         if (GetSGNode()->GetSGParent() != NULL)
748         {
749                 // the object is a child, adapt its local orientation so that 
750                 // the global orientation is aligned as we want.
751                 MT_Matrix3x3 invori = GetSGNode()->GetSGParent()->GetWorldOrientation().inverse();
752                 NodeSetLocalOrientation(invori*orimat);
753         }
754         else
755                 NodeSetLocalOrientation(orimat);
756 }
757
758 MT_Scalar KX_GameObject::GetMass()
759 {
760         if (m_pPhysicsController1)
761         {
762                 return m_pPhysicsController1->GetMass();
763         }
764         return 0.0;
765 }
766
767 MT_Vector3 KX_GameObject::GetLinearVelocity(bool local)
768 {
769         MT_Vector3 velocity(0.0,0.0,0.0), locvel;
770         MT_Matrix3x3 ori;
771         if (m_pPhysicsController1)
772         {
773                 velocity = m_pPhysicsController1->GetLinearVelocity();
774                 
775                 if (local)
776                 {
777                         ori = GetSGNode()->GetWorldOrientation();
778                         
779                         locvel = velocity * ori;
780                         return locvel;
781                 }
782         }
783         return velocity;        
784 }
785
786 MT_Vector3 KX_GameObject::GetAngularVelocity(bool local)
787 {
788         MT_Vector3 velocity(0.0,0.0,0.0), locvel;
789         MT_Matrix3x3 ori;
790         if (m_pPhysicsController1)
791         {
792                 velocity = m_pPhysicsController1->GetAngularVelocity();
793                 
794                 if (local)
795                 {
796                         ori = GetSGNode()->GetWorldOrientation();
797                         
798                         locvel = velocity * ori;
799                         return locvel;
800                 }
801         }
802         return velocity;        
803 }
804
805 MT_Vector3 KX_GameObject::GetVelocity(const MT_Point3& point)
806 {
807         if (m_pPhysicsController1)
808         {
809                 return m_pPhysicsController1->GetVelocity(point);
810         }
811         return MT_Vector3(0.0,0.0,0.0);
812 }
813
814 // scenegraph node stuff
815
816 void KX_GameObject::NodeSetLocalPosition(const MT_Point3& trans)
817 {
818         // check on valid node in case a python controller holds a reference to a deleted object
819         if (!GetSGNode())
820                 return;
821
822         if (m_pPhysicsController1 && !GetSGNode()->GetSGParent())
823         {
824                 // don't update physic controller if the object is a child:
825                 // 1) the transformation will not be right
826                 // 2) in this case, the physic controller is necessarily a static object
827                 //    that is updated from the normal kinematic synchronization
828                 m_pPhysicsController1->setPosition(trans);
829         }
830
831         GetSGNode()->SetLocalPosition(trans);
832 }
833
834
835
836 void KX_GameObject::NodeSetLocalOrientation(const MT_Matrix3x3& rot)
837 {
838         // check on valid node in case a python controller holds a reference to a deleted object
839         if (!GetSGNode())
840                 return;
841
842         if (m_pPhysicsController1 && !GetSGNode()->GetSGParent())
843         {
844                 // see note above
845                 m_pPhysicsController1->setOrientation(rot);
846         }
847         GetSGNode()->SetLocalOrientation(rot);
848 }
849
850
851
852 void KX_GameObject::NodeSetLocalScale(const MT_Vector3& scale)
853 {
854         // check on valid node in case a python controller holds a reference to a deleted object
855         if (!GetSGNode())
856                 return;
857
858         if (m_pPhysicsController1 && !GetSGNode()->GetSGParent())
859         {
860                 // see note above
861                 m_pPhysicsController1->setScaling(scale);
862         }
863         GetSGNode()->SetLocalScale(scale);
864 }
865
866
867
868 void KX_GameObject::NodeSetRelativeScale(const MT_Vector3& scale)
869 {
870         if (GetSGNode())
871         {
872                 GetSGNode()->RelativeScale(scale);
873                 if (m_pPhysicsController1 && (!GetSGNode()->GetSGParent()))
874                 {
875                         // see note above
876                         // we can use the local scale: it's the same thing for a root object 
877                         // and the world scale is not yet updated
878                         MT_Vector3 newscale = GetSGNode()->GetLocalScale();
879                         m_pPhysicsController1->setScaling(newscale);
880                 }
881         }
882 }
883
884 void KX_GameObject::NodeSetWorldPosition(const MT_Point3& trans)
885 {
886         SG_Node* parent = m_pSGNode->GetSGParent();
887         if (parent != NULL)
888         {
889                 // Make sure the objects have some scale
890                 MT_Vector3 scale = parent->GetWorldScaling();
891                 if (fabs(scale[0]) < FLT_EPSILON || 
892                         fabs(scale[1]) < FLT_EPSILON || 
893                         fabs(scale[2]) < FLT_EPSILON)
894                 { 
895                         return; 
896                 }
897                 scale[0] = 1.0/scale[0];
898                 scale[1] = 1.0/scale[1];
899                 scale[2] = 1.0/scale[2];
900                 MT_Matrix3x3 invori = parent->GetWorldOrientation().inverse();
901                 MT_Vector3 newpos = invori*(trans-parent->GetWorldPosition())*scale;
902                 NodeSetLocalPosition(MT_Point3(newpos[0],newpos[1],newpos[2]));
903         }
904         else 
905         {
906                 NodeSetLocalPosition(trans);
907         }
908 }
909
910
911 void KX_GameObject::NodeUpdateGS(double time,bool bInitiator)
912 {
913         if (GetSGNode())
914                 GetSGNode()->UpdateWorldData(time);
915 }
916
917
918
919 const MT_Matrix3x3& KX_GameObject::NodeGetWorldOrientation() const
920 {
921         static MT_Matrix3x3 defaultOrientation = MT_Matrix3x3(  1.0, 0.0, 0.0,
922                                                                                                                         0.0, 1.0, 0.0,
923                                                                                                                         0.0, 0.0, 1.0);
924
925         // check on valid node in case a python controller holds a reference to a deleted object
926         if (!GetSGNode())
927                 return defaultOrientation;
928         return GetSGNode()->GetWorldOrientation();
929 }
930
931
932
933 const MT_Vector3& KX_GameObject::NodeGetWorldScaling() const
934 {
935         static MT_Vector3 defaultScaling = MT_Vector3(1.0, 1.0, 1.0);
936
937         // check on valid node in case a python controller holds a reference to a deleted object
938         if (!GetSGNode())
939                 return defaultScaling;
940
941         return GetSGNode()->GetWorldScaling();
942 }
943
944
945
946 const MT_Point3& KX_GameObject::NodeGetWorldPosition() const
947 {
948         // check on valid node in case a python controller holds a reference to a deleted object
949         if (GetSGNode())
950                 return GetSGNode()->GetWorldPosition();
951         else
952                 return MT_Point3(0.0, 0.0, 0.0);
953 }
954
955 /* Suspend/ resume: for the dynamic behaviour, there is a simple
956  * method. For the residual motion, there is not. I wonder what the
957  * correct solution is for Sumo. Remove from the motion-update tree?
958  *
959  * So far, only switch the physics and logic.
960  * */
961
962 void KX_GameObject::Resume(void)
963 {
964         if (m_suspended) {
965                 SCA_IObject::Resume();
966                 GetPhysicsController()->RestoreDynamics();
967
968                 m_suspended = false;
969         }
970 }
971
972 void KX_GameObject::Suspend()
973 {
974         if ((!m_ignore_activity_culling) 
975                 && (!m_suspended))  {
976                 SCA_IObject::Suspend();
977                 GetPhysicsController()->SuspendDynamics();
978                 m_suspended = true;
979         }
980 }
981
982
983
984
985 /* ------- python stuff ---------------------------------------------------*/
986
987 PyMethodDef KX_GameObject::Methods[] = {
988         {"setWorldPosition", (PyCFunction) KX_GameObject::sPySetWorldPosition, METH_O},
989         {"applyForce", (PyCFunction)    KX_GameObject::sPyApplyForce, METH_VARARGS},
990         {"applyTorque", (PyCFunction)   KX_GameObject::sPyApplyTorque, METH_VARARGS},
991         {"applyRotation", (PyCFunction) KX_GameObject::sPyApplyRotation, METH_VARARGS},
992         {"applyMovement", (PyCFunction) KX_GameObject::sPyApplyMovement, METH_VARARGS},
993         {"getLinearVelocity", (PyCFunction) KX_GameObject::sPyGetLinearVelocity, METH_VARARGS},
994         {"setLinearVelocity", (PyCFunction) KX_GameObject::sPySetLinearVelocity, METH_VARARGS},
995         {"getAngularVelocity", (PyCFunction) KX_GameObject::sPyGetAngularVelocity, METH_VARARGS},
996         {"setAngularVelocity", (PyCFunction) KX_GameObject::sPySetAngularVelocity, METH_VARARGS},
997         {"getVelocity", (PyCFunction) KX_GameObject::sPyGetVelocity, METH_VARARGS},
998         {"getReactionForce", (PyCFunction) KX_GameObject::sPyGetReactionForce, METH_NOARGS},
999         {"alignAxisToVect",(PyCFunction) KX_GameObject::sPyAlignAxisToVect, METH_VARARGS},
1000         {"getAxisVect",(PyCFunction) KX_GameObject::sPyGetAxisVect, METH_O},
1001         {"suspendDynamics", (PyCFunction)KX_GameObject::sPySuspendDynamics,METH_NOARGS},
1002         {"restoreDynamics", (PyCFunction)KX_GameObject::sPyRestoreDynamics,METH_NOARGS},
1003         {"enableRigidBody", (PyCFunction)KX_GameObject::sPyEnableRigidBody,METH_NOARGS},
1004         {"disableRigidBody", (PyCFunction)KX_GameObject::sPyDisableRigidBody,METH_NOARGS},
1005         {"applyImpulse", (PyCFunction) KX_GameObject::sPyApplyImpulse, METH_VARARGS},
1006         {"setCollisionMargin", (PyCFunction) KX_GameObject::sPySetCollisionMargin, METH_O},
1007         {"setParent", (PyCFunction)KX_GameObject::sPySetParent,METH_O},
1008         {"setVisible",(PyCFunction) KX_GameObject::sPySetVisible, METH_VARARGS},
1009         {"removeParent", (PyCFunction)KX_GameObject::sPyRemoveParent,METH_NOARGS},
1010         {"getChildren", (PyCFunction)KX_GameObject::sPyGetChildren,METH_NOARGS},
1011         {"getChildrenRecursive", (PyCFunction)KX_GameObject::sPyGetChildrenRecursive,METH_NOARGS},
1012         {"getMesh", (PyCFunction)KX_GameObject::sPyGetMesh,METH_VARARGS},
1013         {"getPhysicsId", (PyCFunction)KX_GameObject::sPyGetPhysicsId,METH_NOARGS},
1014         {"getPropertyNames", (PyCFunction)KX_GameObject::sPyGetPropertyNames,METH_NOARGS},
1015         {"replaceMesh",(PyCFunction) KX_GameObject::sPyReplaceMesh, METH_O},
1016         {"endObject",(PyCFunction) KX_GameObject::sPyEndObject, METH_NOARGS},
1017         
1018         KX_PYMETHODTABLE(KX_GameObject, rayCastTo),
1019         KX_PYMETHODTABLE(KX_GameObject, rayCast),
1020         KX_PYMETHODTABLE_O(KX_GameObject, getDistanceTo),
1021         KX_PYMETHODTABLE_O(KX_GameObject, getVectTo),
1022         
1023         // deprecated
1024         {"getPosition", (PyCFunction) KX_GameObject::sPyGetPosition, METH_NOARGS},
1025         {"setPosition", (PyCFunction) KX_GameObject::sPySetPosition, METH_O},
1026         {"getOrientation", (PyCFunction) KX_GameObject::sPyGetOrientation, METH_NOARGS},
1027         {"setOrientation", (PyCFunction) KX_GameObject::sPySetOrientation, METH_O},
1028         {"getState",(PyCFunction) KX_GameObject::sPyGetState, METH_NOARGS},
1029         {"setState",(PyCFunction) KX_GameObject::sPySetState, METH_O},
1030         {"getParent", (PyCFunction)KX_GameObject::sPyGetParent,METH_NOARGS},
1031         {"getVisible",(PyCFunction) KX_GameObject::sPyGetVisible, METH_NOARGS},
1032         {"getMass", (PyCFunction) KX_GameObject::sPyGetMass, METH_NOARGS},
1033         {NULL,NULL} //Sentinel
1034 };
1035
1036 PyAttributeDef KX_GameObject::Attributes[] = {
1037         KX_PYATTRIBUTE_RO_FUNCTION("name",              KX_GameObject, pyattr_get_name),
1038         KX_PYATTRIBUTE_RO_FUNCTION("parent",    KX_GameObject, pyattr_get_parent),
1039         KX_PYATTRIBUTE_RW_FUNCTION("mass",              KX_GameObject, pyattr_get_mass,         pyattr_set_mass),
1040         KX_PYATTRIBUTE_RW_FUNCTION("visible",   KX_GameObject, pyattr_get_visible,      pyattr_set_visible),
1041         KX_PYATTRIBUTE_RW_FUNCTION("position",  KX_GameObject, pyattr_get_position,     pyattr_set_position),
1042         KX_PYATTRIBUTE_RW_FUNCTION("orientation",KX_GameObject,pyattr_get_orientation,pyattr_set_orientation),
1043         KX_PYATTRIBUTE_RW_FUNCTION("scaling",   KX_GameObject, pyattr_get_scaling,      pyattr_set_scaling),
1044         KX_PYATTRIBUTE_RW_FUNCTION("timeOffset",KX_GameObject, pyattr_get_timeOffset,pyattr_set_timeOffset),
1045         KX_PYATTRIBUTE_RW_FUNCTION("state",             KX_GameObject, pyattr_get_state,        pyattr_set_state),
1046         {NULL} //Sentinel
1047 };
1048
1049
1050 /*
1051 bool KX_GameObject::ConvertPythonVectorArgs(PyObject* args,
1052                                                                                         MT_Vector3& pos,
1053                                                                                         MT_Vector3& pos2)
1054 {
1055         PyObject* pylist;
1056         PyObject* pylist2;
1057         bool error = (PyArg_ParseTuple(args,"OO",&pylist,&pylist2)) != 0;
1058
1059         pos = ConvertPythonPylist(pylist);
1060         pos2 = ConvertPythonPylist(pylist2);
1061                 
1062         return error;
1063 }
1064 */
1065
1066 PyObject* KX_GameObject::PyReplaceMesh(PyObject* self, PyObject* value)
1067 {
1068         KX_Scene *scene = KX_GetActiveScene();
1069         char* meshname;
1070         void* mesh_pt;
1071
1072         meshname = PyString_AsString(value);
1073         if (meshname==NULL) {
1074                 PyErr_SetString(PyExc_ValueError, "Expected a mesh name");
1075                 return NULL;
1076         }
1077         mesh_pt = SCA_ILogicBrick::m_sCurrentLogicManager->GetMeshByName(STR_String(meshname));
1078         
1079         if (mesh_pt==NULL) {
1080                 PyErr_SetString(PyExc_ValueError, "The mesh name given does not exist");
1081                 return NULL;
1082         }
1083         scene->ReplaceMesh(this, (class RAS_MeshObject*)mesh_pt);
1084         
1085         Py_RETURN_NONE;
1086 }
1087
1088 PyObject* KX_GameObject::PyEndObject(PyObject* self)
1089 {
1090
1091         KX_Scene *scene = KX_GetActiveScene();
1092         scene->DelayedRemoveObject(this);
1093         
1094         Py_RETURN_NONE;
1095
1096 }
1097
1098
1099 PyObject* KX_GameObject::PyGetPosition(PyObject* self)
1100 {
1101         ShowDeprecationWarning("getPosition()", "the position property");
1102         return PyObjectFrom(NodeGetWorldPosition());
1103 }
1104
1105
1106
1107 PyTypeObject KX_GameObject::Type = {
1108         PyObject_HEAD_INIT(&PyType_Type)
1109                 0,
1110                 "KX_GameObject",
1111                 sizeof(KX_GameObject),
1112                 0,
1113                 PyDestructor,
1114                 0,
1115                 __getattr,
1116                 __setattr,
1117                 0, //&MyPyCompare,
1118                 __repr,
1119                 0, //&cvalue_as_number,
1120                 0,
1121                 0,
1122                 0,
1123                 0
1124 };
1125
1126
1127
1128 PyParentObject KX_GameObject::Parents[] = {
1129         &KX_GameObject::Type,
1130                 &SCA_IObject::Type,
1131                 &CValue::Type,
1132                 NULL
1133 };
1134
1135 PyObject* KX_GameObject::pyattr_get_name(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
1136 {
1137         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1138         return PyString_FromString(self->GetName().ReadPtr());
1139 }
1140
1141 PyObject* KX_GameObject::pyattr_get_parent(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
1142 {
1143         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1144         KX_GameObject* parent = self->GetParent();
1145         if (parent)
1146                 return parent->AddRef();
1147         Py_RETURN_NONE;
1148 }
1149
1150 PyObject* KX_GameObject::pyattr_get_mass(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
1151 {
1152         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1153         KX_IPhysicsController *spc = self->GetPhysicsController();
1154         return PyFloat_FromDouble(spc ? spc->GetMass() : 0.0f);
1155 }
1156
1157 int KX_GameObject::pyattr_set_mass(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
1158 {
1159         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1160         KX_IPhysicsController *spc = self->GetPhysicsController();
1161         MT_Scalar val = PyFloat_AsDouble(value);
1162         if (val < 0.0f) { /* also accounts for non float */
1163                 PyErr_SetString(PyExc_AttributeError, "expected a float zero or above");
1164                 return 1;
1165         }
1166
1167         if (spc)
1168                 spc->SetMass(val);
1169
1170         return 0;
1171 }
1172
1173 PyObject* KX_GameObject::pyattr_get_visible(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
1174 {
1175         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1176         return PyBool_FromLong(self->GetVisible());
1177 }
1178
1179 int KX_GameObject::pyattr_set_visible(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
1180 {
1181         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1182         int param = PyObject_IsTrue( value );
1183         if (param == -1) {
1184                 PyErr_SetString(PyExc_AttributeError, "expected True or False");
1185                 return 1;
1186         }
1187
1188         self->SetVisible(param, false);
1189         self->UpdateBuckets(false);
1190         return 0;
1191 }
1192
1193 PyObject* KX_GameObject::pyattr_get_position(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
1194 {
1195         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1196         return PyObjectFrom(self->NodeGetWorldPosition());
1197 }
1198
1199 int KX_GameObject::pyattr_set_position(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
1200 {
1201         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1202         MT_Point3 pos;
1203         if (!PyVecTo(value, pos))
1204                 return 1;
1205         
1206         self->NodeSetLocalPosition(pos);
1207         self->NodeUpdateGS(0.f,true);
1208         return 0;
1209 }
1210
1211
1212 PyObject* KX_GameObject::pyattr_get_orientation(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
1213 {
1214         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1215         return PyObjectFrom(self->NodeGetWorldOrientation());
1216 }
1217
1218 int KX_GameObject::pyattr_set_orientation(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
1219 {
1220         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1221         if (!PySequence_Check(value)) {
1222                 PyErr_SetString(PyExc_AttributeError, "'orientation' attribute needs to be a sequence");
1223                 return 1;
1224         }
1225
1226         MT_Matrix3x3 rot;
1227         if (PyObject_IsMT_Matrix(value, 3))
1228         {
1229                 if (PyMatTo(value, rot))
1230                 {
1231                         self->NodeSetLocalOrientation(rot);
1232                         self->NodeUpdateGS(0.f,true);
1233                         return 0;
1234                 }
1235                 return 1;
1236         }
1237
1238         if (PySequence_Size(value) == 4)
1239         {
1240                 MT_Quaternion qrot;
1241                 if (PyVecTo(value, qrot))
1242                 {
1243                         rot.setRotation(qrot);
1244                         self->NodeSetLocalOrientation(rot);
1245                         self->NodeUpdateGS(0.f,true);
1246                         return 0;
1247                 }
1248                 return 1;
1249         }
1250
1251         if (PySequence_Size(value) == 3)
1252         {
1253                 MT_Vector3 erot;
1254                 if (PyVecTo(value, erot))
1255                 {
1256                         rot.setEuler(erot);
1257                         self->NodeSetLocalOrientation(rot);
1258                         self->NodeUpdateGS(0.f,true);
1259                         return 0;
1260                 }
1261                 return 1;
1262         }
1263
1264         PyErr_SetString(PyExc_AttributeError, "could not set the orientation from a 3x3 matrix, quaternion or euler sequence");
1265         return 1;
1266 }
1267
1268 PyObject* KX_GameObject::pyattr_get_scaling(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
1269 {
1270         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1271         return PyObjectFrom(self->NodeGetWorldScaling());
1272 }
1273
1274 int KX_GameObject::pyattr_set_scaling(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
1275 {
1276         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1277         MT_Vector3 scale;
1278         if (!PyVecTo(value, scale))
1279                 return 1;
1280
1281         self->NodeSetLocalScale(scale);
1282         self->NodeUpdateGS(0.f,true);
1283         return 0;
1284 }
1285
1286 PyObject* KX_GameObject::pyattr_get_timeOffset(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
1287 {
1288         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1289         SG_Node* sg_parent= self->GetSGNode()->GetSGParent();
1290         if (sg_parent && sg_parent->IsSlowParent()) {
1291                 return PyFloat_FromDouble(static_cast<KX_SlowParentRelation *>(sg_parent->GetParentRelation())->GetTimeOffset());
1292         } else {
1293                 return PyFloat_FromDouble(0.0);
1294         }
1295 }
1296
1297 int KX_GameObject::pyattr_set_timeOffset(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
1298 {
1299         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1300         MT_Scalar val = PyFloat_AsDouble(value);
1301         SG_Node* sg_parent= self->GetSGNode()->GetSGParent();
1302         if (val < 0.0f) { /* also accounts for non float */
1303                 PyErr_SetString(PyExc_AttributeError, "expected a float zero or above");
1304                 return 1;
1305         }
1306
1307         if (sg_parent && sg_parent->IsSlowParent())
1308                 static_cast<KX_SlowParentRelation *>(sg_parent->GetParentRelation())->SetTimeOffset(val);
1309
1310         return 0;
1311 }
1312
1313 PyObject* KX_GameObject::pyattr_get_state(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
1314 {
1315         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1316         int state = 0;
1317         state |= self->GetState();
1318         return PyInt_FromLong(state);
1319 }
1320
1321 int KX_GameObject::pyattr_set_state(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
1322 {
1323         KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
1324         int state_i = PyInt_AsLong(value);
1325         unsigned int state = 0;
1326         
1327         if (state_i == -1 && PyErr_Occurred()) {
1328                 PyErr_SetString(PyExc_TypeError, "expected an int bit field");
1329                 return 1;
1330         }
1331         
1332         state |= state_i;
1333         if ((state & ((1<<30)-1)) == 0) {
1334                 PyErr_SetString(PyExc_AttributeError, "The state bitfield was not between 0 and 30 (1<<0 and 1<<29)");
1335                 return 1;
1336         }
1337         self->SetState(state);
1338         return 0;
1339 }
1340
1341 PyObject* KX_GameObject::_getattr(const char *attr)
1342 {
1343         PyObject* object = _getattr_self(Attributes, this, attr);
1344         if (object != NULL)
1345                 return object;
1346         
1347         if (!strcmp(attr, "__dict__")) { /* python 3.0 uses .__dir__()*/
1348                 return _getattr_dict(SCA_IObject::_getattr(attr), Methods, Attributes);
1349         }
1350         
1351         _getattr_up(SCA_IObject);
1352 }
1353
1354 int KX_GameObject::_setattr(const char *attr, PyObject *value)  // _setattr method
1355 {
1356         int ret = _setattr_self(Attributes, this, attr, value);
1357         if (ret >= 0)
1358                 return ret;
1359         
1360         return SCA_IObject::_setattr(attr, value);
1361 }
1362
1363 PyObject* KX_GameObject::PyApplyForce(PyObject* self, PyObject* args)
1364 {
1365         int local = 0;
1366         PyObject* pyvect;
1367
1368         if (PyArg_ParseTuple(args, "O|i:applyForce", &pyvect, &local)) {
1369                 MT_Vector3 force;
1370                 if (PyVecTo(pyvect, force)) {
1371                         ApplyForce(force, (local!=0));
1372                         Py_RETURN_NONE;
1373                 }
1374         }
1375         return NULL;
1376 }
1377
1378 PyObject* KX_GameObject::PyApplyTorque(PyObject* self, PyObject* args)
1379 {
1380         int local = 0;
1381         PyObject* pyvect;
1382
1383         if (PyArg_ParseTuple(args, "O|i:applyTorque", &pyvect, &local)) {
1384                 MT_Vector3 torque;
1385                 if (PyVecTo(pyvect, torque)) {
1386                         ApplyTorque(torque, (local!=0));
1387                         Py_RETURN_NONE;
1388                 }
1389         }
1390         return NULL;
1391 }
1392
1393 PyObject* KX_GameObject::PyApplyRotation(PyObject* self, PyObject* args)
1394 {
1395         int local = 0;
1396         PyObject* pyvect;
1397
1398         if (PyArg_ParseTuple(args, "O|i:applyRotation", &pyvect, &local)) {
1399                 MT_Vector3 rotation;
1400                 if (PyVecTo(pyvect, rotation)) {
1401                         ApplyRotation(rotation, (local!=0));
1402                         Py_RETURN_NONE;
1403                 }
1404         }
1405         return NULL;
1406 }
1407
1408 PyObject* KX_GameObject::PyApplyMovement(PyObject* self, PyObject* args)
1409 {
1410         int local = 0;
1411         PyObject* pyvect;
1412
1413         if (PyArg_ParseTuple(args, "O|i:applyMovement", &pyvect, &local)) {
1414                 MT_Vector3 movement;
1415                 if (PyVecTo(pyvect, movement)) {
1416                         ApplyMovement(movement, (local!=0));
1417                         Py_RETURN_NONE;
1418                 }
1419         }
1420         return NULL;
1421 }
1422
1423 PyObject* KX_GameObject::PyGetLinearVelocity(PyObject* self, PyObject* args)
1424 {
1425         // only can get the velocity if we have a physics object connected to us...
1426         int local = 0;
1427         if (PyArg_ParseTuple(args,"|i:getLinearVelocity",&local))
1428         {
1429                 return PyObjectFrom(GetLinearVelocity((local!=0)));
1430         }
1431         else
1432         {
1433                 return NULL;
1434         }
1435 }
1436
1437 PyObject* KX_GameObject::PySetLinearVelocity(PyObject* self, PyObject* args)
1438 {
1439         int local = 0;
1440         PyObject* pyvect;
1441         
1442         if (PyArg_ParseTuple(args,"O|i:setLinearVelocity",&pyvect,&local)) {
1443                 MT_Vector3 velocity;
1444                 if (PyVecTo(pyvect, velocity)) {
1445                         setLinearVelocity(velocity, (local!=0));
1446                         Py_RETURN_NONE;
1447                 }
1448         }
1449         return NULL;
1450 }
1451
1452 PyObject* KX_GameObject::PyGetAngularVelocity(PyObject* self, PyObject* args)
1453 {
1454         // only can get the velocity if we have a physics object connected to us...
1455         int local = 0;
1456         if (PyArg_ParseTuple(args,"|i:getAngularVelocity",&local))
1457         {
1458                 return PyObjectFrom(GetAngularVelocity((local!=0)));
1459         }
1460         else
1461         {
1462                 return NULL;
1463         }
1464 }
1465
1466 PyObject* KX_GameObject::PySetAngularVelocity(PyObject* self, PyObject* args)
1467 {
1468         int local = 0;
1469         PyObject* pyvect;
1470         
1471         if (PyArg_ParseTuple(args,"O|i:setAngularVelocity",&pyvect,&local)) {
1472                 MT_Vector3 velocity;
1473                 if (PyVecTo(pyvect, velocity)) {
1474                         setAngularVelocity(velocity, (local!=0));
1475                         Py_RETURN_NONE;
1476                 }
1477         }
1478         return NULL;
1479 }
1480
1481 PyObject* KX_GameObject::PySetVisible(PyObject* self, PyObject* args)
1482 {
1483         int visible, recursive = 0;
1484         if (!PyArg_ParseTuple(args,"i|i:setVisible",&visible, &recursive))
1485                 return NULL;
1486         
1487         SetVisible(visible ? true:false, recursive ? true:false);
1488         UpdateBuckets(recursive ? true:false);
1489         Py_RETURN_NONE;
1490         
1491 }
1492
1493 PyObject* KX_GameObject::PyGetVisible(PyObject* self)
1494 {
1495         ShowDeprecationWarning("getVisible()", "the visible property");
1496         return PyInt_FromLong(m_bVisible);      
1497 }
1498
1499 PyObject* KX_GameObject::PyGetState(PyObject* self)
1500 {
1501         ShowDeprecationWarning("getState()", "the state property");
1502         int state = 0;
1503         state |= GetState();
1504         return PyInt_FromLong(state);
1505 }
1506
1507 PyObject* KX_GameObject::PySetState(PyObject* self, PyObject* value)
1508 {
1509         ShowDeprecationWarning("setState()", "the state property");
1510         int state_i = PyInt_AsLong(value);
1511         unsigned int state = 0;
1512         
1513         if (state_i == -1 && PyErr_Occurred()) {
1514                 PyErr_SetString(PyExc_TypeError, "expected an int bit field");
1515                 return NULL;
1516         }
1517         
1518         state |= state_i;
1519         if ((state & ((1<<30)-1)) == 0) {
1520                 PyErr_SetString(PyExc_AttributeError, "The state bitfield was not between 0 and 30 (1<<0 and 1<<29)");
1521                 return NULL;
1522         }
1523         SetState(state);
1524         
1525         Py_RETURN_NONE;
1526 }
1527
1528 PyObject* KX_GameObject::PyGetVelocity(PyObject* self, PyObject* args)
1529 {
1530         // only can get the velocity if we have a physics object connected to us...
1531         MT_Point3 point(0.0,0.0,0.0);
1532         PyObject* pypos = NULL;
1533         
1534         if (PyArg_ParseTuple(args, "|O:getVelocity", &pypos))
1535         {
1536                 if (pypos)
1537                         PyVecTo(pypos, point);
1538         }
1539         else {
1540                 return NULL;
1541         }
1542         
1543         if (m_pPhysicsController1)
1544         {
1545                 return PyObjectFrom(m_pPhysicsController1->GetVelocity(point));
1546         }
1547         else {
1548                 return PyObjectFrom(MT_Vector3(0.0,0.0,0.0));
1549         }
1550 }
1551
1552
1553
1554 PyObject* KX_GameObject::PyGetMass(PyObject* self)
1555 {
1556         ShowDeprecationWarning("getMass()", "the mass property");
1557         return PyFloat_FromDouble(GetPhysicsController()->GetMass());
1558 }
1559
1560
1561
1562 PyObject* KX_GameObject::PyGetReactionForce(PyObject* self)
1563 {
1564         // only can get the velocity if we have a physics object connected to us...
1565         return PyObjectFrom(GetPhysicsController()->getReactionForce());
1566 }
1567
1568
1569
1570 PyObject* KX_GameObject::PyEnableRigidBody(PyObject* self)
1571 {
1572         GetPhysicsController()->setRigidBody(true);
1573
1574         Py_RETURN_NONE;
1575 }
1576
1577
1578
1579 PyObject* KX_GameObject::PyDisableRigidBody(PyObject* self)
1580 {
1581         GetPhysicsController()->setRigidBody(false);
1582
1583         Py_RETURN_NONE;
1584 }
1585
1586
1587
1588 PyObject* KX_GameObject::PyGetParent(PyObject* self)
1589 {
1590         ShowDeprecationWarning("getParent()", "the parent property");
1591         KX_GameObject* parent = this->GetParent();
1592         if (parent)
1593                 return parent->AddRef();
1594         Py_RETURN_NONE;
1595 }
1596
1597 PyObject* KX_GameObject::PySetParent(PyObject* self, PyObject* value)
1598 {
1599         if (!PyObject_TypeCheck(value, &KX_GameObject::Type)) {
1600                 PyErr_SetString(PyExc_TypeError, "expected a KX_GameObject type");
1601                 return NULL;
1602         }
1603         
1604         // The object we want to set as parent
1605         CValue *m_ob = (CValue*)value;
1606         KX_GameObject *obj = ((KX_GameObject*)m_ob);
1607         KX_Scene *scene = KX_GetActiveScene();
1608         
1609         this->SetParent(scene, obj);
1610                 
1611         Py_RETURN_NONE;
1612 }
1613
1614 PyObject* KX_GameObject::PyRemoveParent(PyObject* self)
1615 {
1616         KX_Scene *scene = KX_GetActiveScene();
1617         this->RemoveParent(scene);
1618         Py_RETURN_NONE;
1619 }
1620
1621
1622 static void walk_children(SG_Node* node, CListValue* list, bool recursive)
1623 {
1624         NodeList& children = node->GetSGChildren();
1625
1626         for (NodeList::iterator childit = children.begin();!(childit==children.end());++childit)
1627         {
1628                 SG_Node* childnode = (*childit);
1629                 CValue* childobj = (CValue*)childnode->GetSGClientObject();
1630                 if (childobj != NULL) // This is a GameObject
1631                 {
1632                         // add to the list
1633                         list->Add(childobj->AddRef());
1634                 }
1635                 
1636                 // if the childobj is NULL then this may be an inverse parent link
1637                 // so a non recursive search should still look down this node.
1638                 if (recursive || childobj==NULL) {
1639                         walk_children(childnode, list, recursive);
1640                 }
1641         }
1642 }
1643
1644 PyObject* KX_GameObject::PyGetChildren(PyObject* self)
1645 {
1646         CListValue* list = new CListValue();
1647         walk_children(m_pSGNode, list, 0);
1648         return list;
1649 }
1650
1651 PyObject* KX_GameObject::PyGetChildrenRecursive(PyObject* self)
1652 {
1653         CListValue* list = new CListValue();
1654         walk_children(m_pSGNode, list, 1);
1655         return list;
1656 }
1657
1658 PyObject* KX_GameObject::PyGetMesh(PyObject* self, PyObject* args)
1659 {
1660         int mesh = 0;
1661
1662         if (!PyArg_ParseTuple(args, "|i:getMesh", &mesh))
1663                 return NULL; // python sets a simple error
1664         
1665         if (((unsigned int)mesh < m_meshes.size()) && mesh >= 0)
1666         {
1667                 KX_MeshProxy* meshproxy = new KX_MeshProxy(m_meshes[mesh]);
1668                 return meshproxy;
1669         }
1670         
1671         Py_RETURN_NONE;
1672 }
1673
1674
1675
1676
1677
1678 PyObject* KX_GameObject::PySetCollisionMargin(PyObject* self, PyObject* value)
1679 {
1680         float collisionMargin = PyFloat_AsDouble(value);
1681         
1682         if (collisionMargin==-1 && PyErr_Occurred()) {
1683                 PyErr_SetString(PyExc_TypeError, "expected a float");
1684                 return NULL;
1685         }
1686         
1687         if (m_pPhysicsController1)
1688         {
1689                 m_pPhysicsController1->setMargin(collisionMargin);
1690                 Py_RETURN_NONE;
1691         }
1692         PyErr_SetString(PyExc_RuntimeError, "This object has no physics controller");
1693         return NULL;
1694 }
1695
1696
1697
1698 PyObject* KX_GameObject::PyApplyImpulse(PyObject* self, PyObject* args)
1699 {
1700         PyObject* pyattach;
1701         PyObject* pyimpulse;
1702         
1703         if (!m_pPhysicsController1)     {
1704                 PyErr_SetString(PyExc_RuntimeError, "This object has no physics controller");
1705                 return NULL;
1706         }
1707         
1708         if (PyArg_ParseTuple(args, "OO:applyImpulse", &pyattach, &pyimpulse))
1709         {
1710                 MT_Point3  attach;
1711                 MT_Vector3 impulse;
1712                 if (PyVecTo(pyattach, attach) && PyVecTo(pyimpulse, impulse))
1713                 {
1714                         m_pPhysicsController1->applyImpulse(attach, impulse);
1715                         Py_RETURN_NONE;
1716                 }
1717
1718         }
1719         
1720         return NULL;
1721 }
1722
1723
1724
1725 PyObject* KX_GameObject::PySuspendDynamics(PyObject* self)
1726 {
1727         SuspendDynamics();
1728         Py_RETURN_NONE;
1729 }
1730
1731
1732
1733 PyObject* KX_GameObject::PyRestoreDynamics(PyObject* self)
1734 {
1735         RestoreDynamics();
1736         Py_RETURN_NONE;
1737 }
1738
1739
1740
1741 PyObject* KX_GameObject::PyGetOrientation(PyObject* self) //keywords
1742 {
1743         ShowDeprecationWarning("getOrientation()", "the orientation property");
1744         return PyObjectFrom(NodeGetWorldOrientation());
1745 }
1746
1747
1748
1749 PyObject* KX_GameObject::PySetOrientation(PyObject* self, PyObject* value)
1750 {
1751         ShowDeprecationWarning("setOrientation()", "the orientation property");
1752         MT_Matrix3x3 matrix;
1753         if (PyObject_IsMT_Matrix(value, 3) && PyMatTo(value, matrix))
1754         {
1755                 NodeSetLocalOrientation(matrix);
1756                 NodeUpdateGS(0.f,true);
1757                 Py_RETURN_NONE;
1758         }
1759
1760         MT_Quaternion quat;
1761         if (PyVecTo(value, quat))
1762         {
1763                 matrix.setRotation(quat);
1764                 NodeSetLocalOrientation(matrix);
1765                 NodeUpdateGS(0.f,true);
1766                 Py_RETURN_NONE;
1767         }
1768         return NULL;
1769 }
1770
1771 PyObject* KX_GameObject::PyAlignAxisToVect(PyObject* self, PyObject* args)
1772 {
1773         PyObject* pyvect;
1774         int axis = 2; //z axis is the default
1775         float fac = 1.0;
1776         
1777         if (PyArg_ParseTuple(args,"O|if:alignAxisToVect",&pyvect,&axis, &fac))
1778         {
1779                 MT_Vector3 vect;
1780                 if (PyVecTo(pyvect, vect))
1781                 {
1782                         if (fac<=0.0) Py_RETURN_NONE; // Nothing to do.
1783                         if (fac> 1.0) fac= 1.0;
1784                         
1785                         AlignAxisToVect(vect,axis,fac);
1786                         NodeUpdateGS(0.f,true);
1787                         Py_RETURN_NONE;
1788                 }
1789         }
1790         return NULL;
1791 }
1792
1793 PyObject* KX_GameObject::PyGetAxisVect(PyObject* self, PyObject* value)
1794 {
1795         MT_Vector3 vect;
1796         if (PyVecTo(value, vect))
1797         {
1798                 return PyObjectFrom(NodeGetWorldOrientation() * vect);
1799         }
1800         return NULL;
1801 }
1802
1803 PyObject* KX_GameObject::PySetPosition(PyObject* self, PyObject* value)
1804 {
1805         ShowDeprecationWarning("setPosition()", "the position property");
1806         MT_Point3 pos;
1807         if (PyVecTo(value, pos))
1808         {
1809                 NodeSetLocalPosition(pos);
1810                 NodeUpdateGS(0.f,true);
1811                 Py_RETURN_NONE;
1812         }
1813
1814         return NULL;
1815 }
1816
1817 PyObject* KX_GameObject::PySetWorldPosition(PyObject* self, PyObject* value)
1818 {
1819         MT_Point3 pos;
1820         if (PyVecTo(value, pos))
1821         {
1822                 NodeSetWorldPosition(pos);
1823                 NodeUpdateGS(0.f,true);
1824                 Py_RETURN_NONE;
1825         }
1826
1827         return NULL;
1828 }
1829
1830 PyObject* KX_GameObject::PyGetPhysicsId(PyObject* self)
1831 {
1832         KX_IPhysicsController* ctrl = GetPhysicsController();
1833         uint_ptr physid=0;
1834         if (ctrl)
1835         {
1836                 physid= (uint_ptr)ctrl->GetUserData();
1837         }
1838         return PyInt_FromLong((long)physid);
1839 }
1840
1841 PyObject* KX_GameObject::PyGetPropertyNames(PyObject* self)
1842 {
1843         return ConvertKeysToPython();
1844 }
1845
1846 KX_PYMETHODDEF_DOC_O(KX_GameObject, getDistanceTo,
1847 "getDistanceTo(other): get distance to another point/KX_GameObject")
1848 {
1849         MT_Point3 b;
1850         if (PyVecTo(value, b))
1851         {
1852                 return PyFloat_FromDouble(NodeGetWorldPosition().distance(b));
1853         }
1854         PyErr_Clear();
1855         
1856         KX_GameObject *other;
1857         if (ConvertPythonToGameObject(value, &other, false))
1858         {
1859                 return PyFloat_FromDouble(NodeGetWorldPosition().distance(other->NodeGetWorldPosition()));
1860         }
1861         
1862         return NULL;
1863 }
1864
1865 KX_PYMETHODDEF_DOC_O(KX_GameObject, getVectTo,
1866 "getVectTo(other): get vector and the distance to another point/KX_GameObject\n"
1867 "Returns a 3-tuple with (distance,worldVector,localVector)\n")
1868 {
1869         MT_Point3 toPoint, fromPoint;
1870         MT_Vector3 toDir, locToDir;
1871         MT_Scalar distance;
1872
1873         PyObject *returnValue;
1874
1875         if (!PyVecTo(value, toPoint))
1876         {
1877                 PyErr_Clear();
1878                 
1879                 KX_GameObject *other;
1880                 if (ConvertPythonToGameObject(value, &other, false))
1881                 {
1882                         toPoint = other->NodeGetWorldPosition();
1883                 } else
1884                 {
1885                         PyErr_SetString(PyExc_TypeError, "Expected a 3D Vector or GameObject type");
1886                         return NULL;
1887                 }
1888         }
1889
1890         fromPoint = NodeGetWorldPosition();
1891         toDir = toPoint-fromPoint;
1892         distance = toDir.length();
1893
1894         if (MT_fuzzyZero(distance))
1895         {
1896                 //cout << "getVectTo() Error: Null vector!\n";
1897                 locToDir = toDir = MT_Vector3(0.0,0.0,0.0);
1898                 distance = 0.0;
1899         } else {
1900                 toDir.normalize();
1901                 locToDir = toDir * NodeGetWorldOrientation();
1902         }
1903         
1904         returnValue = PyTuple_New(3);
1905         if (returnValue) { // very unlikely to fail, python sets a memory error here.
1906                 PyTuple_SET_ITEM(returnValue, 0, PyFloat_FromDouble(distance));
1907                 PyTuple_SET_ITEM(returnValue, 1, PyObjectFrom(toDir));
1908                 PyTuple_SET_ITEM(returnValue, 2, PyObjectFrom(locToDir));
1909         }
1910         return returnValue;
1911 }
1912
1913 bool KX_GameObject::RayHit(KX_ClientObjectInfo* client, KX_RayCast* result, void * const data)
1914 {
1915         KX_GameObject* hitKXObj = client->m_gameobject;
1916         
1917         // if X-ray option is selected, the unwnted objects were not tested, so get here only with true hit
1918         // if not, all objects were tested and the front one may not be the correct one.
1919         if (m_xray || m_testPropName.Length() == 0 || hitKXObj->GetProperty(m_testPropName) != NULL)
1920         {
1921                 m_pHitObject = hitKXObj;
1922                 return true;
1923         }
1924         // return true to stop RayCast::RayTest from looping, the above test was decisive
1925         // We would want to loop only if we want to get more than one hit point
1926         return true;
1927 }
1928
1929 /* this function is used to pre-filter the object before casting the ray on them.
1930    This is useful for "X-Ray" option when we want to see "through" unwanted object.
1931  */
1932 bool KX_GameObject::NeedRayCast(KX_ClientObjectInfo* client)
1933 {
1934         KX_GameObject* hitKXObj = client->m_gameobject;
1935         
1936         if (client->m_type > KX_ClientObjectInfo::ACTOR)
1937         {
1938                 // Unknown type of object, skip it.
1939                 // Should not occur as the sensor objects are filtered in RayTest()
1940                 printf("Invalid client type %d found in ray casting\n", client->m_type);
1941                 return false;
1942         }
1943         
1944         // if X-Ray option is selected, skip object that don't match the criteria as we see through them
1945         // if not, test all objects because we don't know yet which one will be on front
1946         if (!m_xray || m_testPropName.Length() == 0 || hitKXObj->GetProperty(m_testPropName) != NULL)
1947         {
1948                 return true;
1949         }
1950         // skip the object
1951         return false;
1952 }
1953
1954 KX_PYMETHODDEF_DOC(KX_GameObject, rayCastTo,
1955 "rayCastTo(other,dist,prop): look towards another point/KX_GameObject and return first object hit within dist that matches prop\n"
1956 " prop = property name that object must have; can be omitted => detect any object\n"
1957 " dist = max distance to look (can be negative => look behind); 0 or omitted => detect up to other\n"
1958 " other = 3-tuple or object reference")
1959 {
1960         MT_Point3 toPoint;
1961         PyObject* pyarg;
1962         float dist = 0.0f;
1963         char *propName = NULL;
1964
1965         if (!PyArg_ParseTuple(args,"O|fs:rayCastTo", &pyarg, &dist, &propName)) {
1966                 return NULL; // python sets simple error
1967         }
1968
1969         if (!PyVecTo(pyarg, toPoint))
1970         {
1971                 KX_GameObject *other;
1972                 PyErr_Clear();
1973                 
1974                 if (ConvertPythonToGameObject(pyarg, &other, false))
1975                 {
1976                         toPoint = other->NodeGetWorldPosition();
1977                 } else
1978                 {
1979                         PyErr_SetString(PyExc_TypeError, "the first argument to rayCastTo must be a vector or a KX_GameObject");
1980                         return NULL;
1981                 }
1982         }
1983         MT_Point3 fromPoint = NodeGetWorldPosition();
1984         if (dist != 0.0f)
1985         {
1986                 MT_Vector3 toDir = toPoint-fromPoint;
1987                 toDir.normalize();
1988                 toPoint = fromPoint + (dist) * toDir;
1989         }
1990
1991         PHY_IPhysicsEnvironment* pe = GetPhysicsEnvironment();
1992         KX_IPhysicsController *spc = GetPhysicsController();
1993         KX_GameObject *parent = GetParent();
1994         if (!spc && parent)
1995                 spc = parent->GetPhysicsController();
1996         if (parent)
1997                 parent->Release();
1998         
1999         m_pHitObject = NULL;
2000         if (propName)
2001                 m_testPropName = propName;
2002         else
2003                 m_testPropName.SetLength(0);
2004         KX_RayCast::Callback<KX_GameObject> callback(this,spc);
2005         KX_RayCast::RayTest(pe, fromPoint, toPoint, callback);
2006
2007     if (m_pHitObject)
2008                 return m_pHitObject->AddRef();
2009         
2010         Py_RETURN_NONE;
2011 }
2012
2013 KX_PYMETHODDEF_DOC(KX_GameObject, rayCast,
2014                                    "rayCast(to,from,dist,prop,face,xray,poly): cast a ray and return 3-tuple (object,hit,normal) or 4-tuple (object,hit,normal,polygon) of contact point with object within dist that matches prop.\n"
2015                                    " If no hit, return (None,None,None) or (None,None,None,None).\n"
2016 " to   = 3-tuple or object reference for destination of ray (if object, use center of object)\n"
2017 " from = 3-tuple or object reference for origin of ray (if object, use center of object)\n"
2018 "        Can be None or omitted => start from self object center\n"
2019 " dist = max distance to look (can be negative => look behind); 0 or omitted => detect up to to\n"
2020 " prop = property name that object must have; can be omitted => detect any object\n"
2021 " face = normal option: 1=>return face normal; 0 or omitted => normal is oriented towards origin\n"
2022 " xray = X-ray option: 1=>skip objects that don't match prop; 0 or omitted => stop on first object\n"
2023 " poly = polygon option: 1=>return value is a 4-tuple and the 4th element is a KX_PolyProxy object\n"
2024 "                           which can be None if hit object has no mesh or if there is no hit\n"
2025 "        If 0 or omitted, return value is a 3-tuple\n"
2026 "Note: The object on which you call this method matters: the ray will ignore it.\n"
2027 "      prop and xray option interact as follow:\n"
2028 "        prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray\n"
2029 "        prop off, xray on : idem\n"
2030 "        prop on,  xray off: return closest hit if it matches prop, no hit otherwise\n"
2031 "        prop on,  xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray\n")
2032 {
2033         MT_Point3 toPoint;
2034         MT_Point3 fromPoint;
2035         PyObject* pyto;
2036         PyObject* pyfrom = NULL;
2037         float dist = 0.0f;
2038         char *propName = NULL;
2039         KX_GameObject *other;
2040         int face=0, xray=0, poly=0;
2041
2042         if (!PyArg_ParseTuple(args,"O|Ofsiii:rayCast", &pyto, &pyfrom, &dist, &propName, &face, &xray, &poly)) {
2043                 return NULL; // Python sets a simple error
2044         }
2045
2046         if (!PyVecTo(pyto, toPoint))
2047         {
2048                 PyErr_Clear();
2049                 
2050                 if (ConvertPythonToGameObject(pyto, &other, false))
2051                 {
2052                         toPoint = other->NodeGetWorldPosition();
2053                 } else
2054                 {
2055                         PyErr_SetString(PyExc_TypeError, "the first argument to rayCast must be a vector or a KX_GameObject");
2056                         return NULL;
2057                 }
2058         }
2059         if (!pyfrom || pyfrom == Py_None)
2060         {
2061                 fromPoint = NodeGetWorldPosition();
2062         }
2063         else if (!PyVecTo(pyfrom, fromPoint))
2064         {
2065                 PyErr_Clear();
2066                 
2067                 if (ConvertPythonToGameObject(pyfrom, &other, false))
2068                 {
2069                         fromPoint = other->NodeGetWorldPosition();
2070                 } else
2071                 {
2072                         PyErr_SetString(PyExc_TypeError, "the second optional argument to rayCast must be a vector or a KX_GameObject");
2073                         return NULL;
2074                 }
2075         }
2076         
2077         if (dist != 0.0f) {
2078                 MT_Vector3 toDir = toPoint-fromPoint;
2079                 if (MT_fuzzyZero(toDir.length2())) {
2080                         return Py_BuildValue("OOO", Py_None, Py_None, Py_None);
2081                 }
2082                 toDir.normalize();
2083                 toPoint = fromPoint + (dist) * toDir;
2084         } else if (MT_fuzzyZero((toPoint-fromPoint).length2())) {
2085                 return Py_BuildValue("OOO", Py_None, Py_None, Py_None);
2086         }
2087         
2088         PHY_IPhysicsEnvironment* pe = GetPhysicsEnvironment();
2089         KX_IPhysicsController *spc = GetPhysicsController();
2090         KX_GameObject *parent = GetParent();
2091         if (!spc && parent)
2092                 spc = parent->GetPhysicsController();
2093         if (parent)
2094                 parent->Release();
2095         
2096         m_pHitObject = NULL;
2097         if (propName)
2098                 m_testPropName = propName;
2099         else
2100                 m_testPropName.SetLength(0);
2101         m_xray = xray;
2102         // to get the hit results
2103         KX_RayCast::Callback<KX_GameObject> callback(this,spc,NULL,face);
2104         KX_RayCast::RayTest(pe, fromPoint, toPoint, callback);
2105
2106         if (m_pHitObject)
2107         {
2108                 PyObject* returnValue = (poly) ? PyTuple_New(4) : PyTuple_New(3);
2109                 if (returnValue) { // unlikely this would ever fail, if it does python sets an error
2110                         PyTuple_SET_ITEM(returnValue, 0, m_pHitObject->AddRef());
2111                         PyTuple_SET_ITEM(returnValue, 1, PyObjectFrom(callback.m_hitPoint));
2112                         PyTuple_SET_ITEM(returnValue, 2, PyObjectFrom(callback.m_hitNormal));
2113                         if (poly)
2114                         {
2115                                 if (callback.m_hitMesh)
2116                                 {
2117                                         // if this field is set, then we can trust that m_hitPolygon is a valid polygon
2118                                         RAS_Polygon* polygon = callback.m_hitMesh->GetPolygon(callback.m_hitPolygon);
2119                                         KX_PolyProxy* polyproxy = new KX_PolyProxy(callback.m_hitMesh, polygon);
2120                                         PyTuple_SET_ITEM(returnValue, 3, polyproxy);
2121                                 }
2122                                 else
2123                                 {
2124                                         Py_INCREF(Py_None);
2125                                         PyTuple_SET_ITEM(returnValue, 3, Py_None);
2126                                 }
2127                         }
2128                 }
2129                 return returnValue;
2130         }
2131         // no hit
2132         if (poly)
2133                 return Py_BuildValue("OOOO", Py_None, Py_None, Py_None, Py_None);
2134         else
2135                 return Py_BuildValue("OOO", Py_None, Py_None, Py_None);
2136 }
2137
2138 /* --------------------------------------------------------------------- 
2139  * Some stuff taken from the header
2140  * --------------------------------------------------------------------- */
2141 void KX_GameObject::Relink(GEN_Map<GEN_HashedPtr, void*> *map_parameter)        
2142 {
2143         // we will relink the sensors and actuators that use object references
2144         // if the object is part of the replicated hierarchy, use the new
2145         // object reference instead
2146         SCA_SensorList& sensorlist = GetSensors();
2147         SCA_SensorList::iterator sit;
2148         for (sit=sensorlist.begin(); sit != sensorlist.end(); sit++)
2149         {
2150                 (*sit)->Relink(map_parameter);
2151         }
2152         SCA_ActuatorList& actuatorlist = GetActuators();
2153         SCA_ActuatorList::iterator ait;
2154         for (ait=actuatorlist.begin(); ait != actuatorlist.end(); ait++)
2155         {
2156                 (*ait)->Relink(map_parameter);
2157         }
2158 }
2159
2160 bool ConvertPythonToGameObject(PyObject * value, KX_GameObject **object, bool py_none_ok)
2161 {
2162         if (value==NULL) {
2163                 PyErr_SetString(PyExc_TypeError, "Error in ConvertPythonToGameObject, python pointer NULL, should never happen");
2164                 *object = NULL;
2165                 return false;
2166         }
2167                 
2168         if (value==Py_None) {
2169                 *object = NULL;
2170                 
2171                 if (py_none_ok) {
2172                         return true;
2173                 } else {
2174                         PyErr_SetString(PyExc_TypeError, "Expected KX_GameObject or a string for a name of a KX_GameObject, None is invalid");
2175                         return false;
2176                 }
2177         }
2178         
2179         if (PyString_Check(value)) {
2180                 *object = (KX_GameObject *)SCA_ILogicBrick::m_sCurrentLogicManager->GetGameObjectByName(STR_String( PyString_AsString(value) ));
2181                 
2182                 if (*object) {
2183                         return true;
2184                 } else {
2185                         PyErr_SetString(PyExc_ValueError, "Requested name did not match any KX_GameObject");
2186                         return false;
2187                 }
2188         }
2189         
2190         if (PyObject_TypeCheck(value, &KX_GameObject::Type)) {
2191                 *object = static_cast<KX_GameObject*>(value);
2192                 return true;
2193         }
2194         
2195         *object = NULL;
2196         
2197         if (py_none_ok) {
2198                 PyErr_SetString(PyExc_TypeError, "Expect a KX_GameObject, a string or None");
2199         } else {
2200                 PyErr_SetString(PyExc_TypeError, "Expect a KX_GameObject or a string");
2201         }
2202         
2203         return false;
2204 }