BGE bug fix (good for 2.47): radar and near sensor did not filter correctly the colli...
[blender.git] / source / gameengine / Ketsji / KX_RadarSensor.cpp
1 /**
2  * $Id$
3  * ***** BEGIN GPL LICENSE BLOCK *****
4  *
5  * This program is free software; you can redistribute it and/or
6  * modify it under the terms of the GNU General Public License
7  * as published by the Free Software Foundation; either version 2
8  * of the License, or (at your option) any later version.
9  *
10  * This program is distributed in the hope that it will be useful,
11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program; if not, write to the Free Software Foundation,
17  * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
18  *
19  * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
20  * All rights reserved.
21  *
22  * The Original Code is: all of this file.
23  *
24  * Contributor(s): none yet.
25  *
26  * ***** END GPL LICENSE BLOCK *****
27  */
28
29 #include "KX_RadarSensor.h"
30 #include "KX_GameObject.h"
31 #include "PHY_IPhysicsController.h"
32
33 #ifdef HAVE_CONFIG_H
34 #include <config.h>
35 #endif
36
37 /**
38  *      RadarSensor constructor. Creates a near-sensor derived class, with a cone collision shape.
39  */
40 KX_RadarSensor::KX_RadarSensor(SCA_EventManager* eventmgr,
41                 KX_GameObject* gameobj,
42                 PHY_IPhysicsController* physCtrl,
43                         double coneradius,
44                         double coneheight,
45                         int     axis,
46                         double margin,
47                         double resetmargin,
48                         bool bFindMaterial,
49                         const STR_String& touchedpropname,
50                         class KX_Scene* kxscene,
51                         PyTypeObject* T)
52
53                         : KX_NearSensor(
54                                 eventmgr,
55                                 gameobj,
56                                 //DT_NewCone(coneradius,coneheight),
57                                 margin,
58                                 resetmargin,
59                                 bFindMaterial,
60                                 touchedpropname,
61                                 kxscene,
62                                 physCtrl,
63                                 T),
64                                 m_coneradius(coneradius),
65                                 m_coneheight(coneheight),
66                                 m_axis(axis)
67 {
68         m_client_info->m_type = KX_ClientObjectInfo::RADAR;
69         //m_client_info->m_clientobject = gameobj;
70         //m_client_info->m_auxilary_info = NULL;
71         //sumoObj->setClientObject(&m_client_info);
72 }
73                         
74 KX_RadarSensor::~KX_RadarSensor()
75 {
76         
77 }
78
79 CValue* KX_RadarSensor::GetReplica()
80 {
81         KX_RadarSensor* replica = new KX_RadarSensor(*this);
82         replica->m_colliders = new CListValue();
83         replica->m_bCollision = false;
84         replica->m_bTriggered= false;
85         replica->m_hitObject = NULL;
86         replica->m_bLastTriggered = false;
87         // this will copy properties and so on...
88         CValue::AddDataToReplica(replica);
89         
90         replica->m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::RADAR);
91         
92         if (replica->m_physCtrl)
93         {
94                 replica->m_physCtrl = replica->m_physCtrl->GetReplica();
95                 if (replica->m_physCtrl)
96                 {
97                         replica->m_physCtrl->setNewClientInfo(replica->m_client_info);
98                 }
99         }
100
101         //todo: make sure replication works fine!
102         //>m_sumoObj = new SM_Object(DT_NewCone(m_coneradius, m_coneheight),NULL,NULL,NULL);
103         //replica->m_sumoObj->setMargin(m_Margin);
104         //replica->m_sumoObj->setClientObject(replica->m_client_info);
105         
106         ((KX_GameObject*)replica->GetParent())->GetSGNode()->ComputeWorldTransforms(NULL);
107         replica->SynchronizeTransform();
108         
109         return replica;
110 }
111
112
113 /**
114  *      Transforms the collision object. A cone is not correctly centered
115  *      for usage.  */
116 void KX_RadarSensor::SynchronizeTransform()
117 {
118         // Getting the parent location was commented out. Why?
119         MT_Transform trans;
120         trans.setOrigin(((KX_GameObject*)GetParent())->NodeGetWorldPosition());
121         trans.setBasis(((KX_GameObject*)GetParent())->NodeGetWorldOrientation());
122         // What is the default orientation? pointing in the -y direction?
123         // is the geometry correctly converted?
124
125         // a collision cone is oriented
126         // center the cone correctly 
127         // depends on the radar 'axis'
128         switch (m_axis)
129         {
130         case 0: // +X Axis
131                 {
132                         MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
133                         trans.rotate(rotquatje);
134                         trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
135                         break;
136                 };
137         case 1: // +Y Axis
138                 {
139                         MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
140                         trans.rotate(rotquatje);
141                         trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
142                         break;
143                 };
144         case 2: // +Z Axis
145                 {
146                         MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-90));
147                         trans.rotate(rotquatje);
148                         trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
149                         break;
150                 };
151         case 3: // -X Axis
152                 {
153                         MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
154                         trans.rotate(rotquatje);
155                         trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0));
156                         break;
157                 };
158         case 4: // -Y Axis
159                 {
160                         MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
161                         trans.rotate(rotquatje);
162                         trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0));
163                         break;
164                 };
165         case 5: // -Z Axis
166                 {
167                         MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-90));
168                         trans.rotate(rotquatje);
169                         trans.translate(MT_Vector3 (0, m_coneheight/2.0 ,0));
170                         break;
171                 };
172         default:
173                 {
174                 }
175         }
176         m_cone_origin = trans.getOrigin();
177         m_cone_target = trans(MT_Point3(0, -m_coneheight/2.0 ,0));
178
179
180         if (m_physCtrl)
181         {
182                 m_physCtrl->setPosition(trans.getOrigin().x(),trans.getOrigin().y(),trans.getOrigin().z());
183                 m_physCtrl->setOrientation(trans.getRotation().x(),trans.getRotation().y(),trans.getRotation().z(),trans.getRotation().w());
184                 m_physCtrl->calcXform();
185         }
186
187 }
188
189 /* ------------------------------------------------------------------------- */
190 /* Python functions                                                          */
191 /* ------------------------------------------------------------------------- */
192
193 /* Integration hooks ------------------------------------------------------- */
194 PyTypeObject KX_RadarSensor::Type = {
195         PyObject_HEAD_INIT(&PyType_Type)
196         0,
197         "KX_RadarSensor",
198         sizeof(KX_RadarSensor),
199         0,
200         PyDestructor,
201         0,
202         __getattr,
203         __setattr,
204         0, //&MyPyCompare,
205         __repr,
206         0, //&cvalue_as_number,
207         0,
208         0,
209         0,
210         0
211 };
212
213 PyParentObject KX_RadarSensor::Parents[] = {
214         &KX_RadarSensor::Type,
215         &KX_NearSensor::Type,
216         &KX_TouchSensor::Type,
217         &SCA_ISensor::Type,
218         &SCA_ILogicBrick::Type,
219         &CValue::Type,
220         NULL
221 };
222
223 PyMethodDef KX_RadarSensor::Methods[] = {
224         {"getConeOrigin", (PyCFunction) KX_RadarSensor::sPyGetConeOrigin, 
225          METH_VARARGS, GetConeOrigin_doc},
226         {"getConeTarget", (PyCFunction) KX_RadarSensor::sPyGetConeTarget, 
227          METH_VARARGS, GetConeTarget_doc},
228         {"getConeHeight", (PyCFunction) KX_RadarSensor::sPyGetConeHeight, 
229          METH_VARARGS, GetConeHeight_doc},
230         {NULL,NULL,NULL,NULL} //Sentinel
231 };
232
233 PyObject* KX_RadarSensor::_getattr(const STR_String& attr) {
234         _getattr_up(KX_TouchSensor);
235 }
236
237 /* getConeOrigin */
238 char KX_RadarSensor::GetConeOrigin_doc[] = 
239 "getConeOrigin()\n"
240 "\tReturns the origin of the cone with which to test. The origin\n"
241 "\tis in the middle of the cone.";
242 PyObject* KX_RadarSensor::PyGetConeOrigin(PyObject* self, 
243                                                                                   PyObject* args, 
244                                                                                   PyObject* kwds) {
245         PyObject *retVal = PyList_New(3);
246         
247         PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_cone_origin[0]));
248         PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_cone_origin[1]));
249         PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_cone_origin[2]));
250         
251         return retVal;
252 }
253
254 /* getConeOrigin */
255 char KX_RadarSensor::GetConeTarget_doc[] = 
256 "getConeTarget()\n"
257 "\tReturns the center of the bottom face of the cone with which to test.\n";
258 PyObject* KX_RadarSensor::PyGetConeTarget(PyObject* self, 
259                                                                                   PyObject* args, 
260                                                                                   PyObject* kwds) {
261         PyObject *retVal = PyList_New(3);
262         
263         PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_cone_target[0]));
264         PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_cone_target[1]));
265         PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_cone_target[2]));
266         
267         return retVal;
268 }
269
270 /* getConeOrigin */
271 char KX_RadarSensor::GetConeHeight_doc[] = 
272 "getConeHeight()\n"
273 "\tReturns the height of the cone with which to test.\n";
274 PyObject* KX_RadarSensor::PyGetConeHeight(PyObject* self, 
275                                                                                   PyObject* args, 
276                                                                                   PyObject* kwds) {
277         return PyFloat_FromDouble(m_coneheight);
278 }
279
280