/** * Cast a ray and feel for objects * * $Id: KX_RaySensor.cpp 28254 2010-04-18 10:28:37Z campbellbarton $ * * ***** BEGIN GPL LICENSE BLOCK ***** * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2 * of the License, or (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software Foundation, * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. * * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. * All rights reserved. * * The Original Code is: all of this file. * * Contributor(s): none yet. * * ***** END GPL LICENSE BLOCK ***** */ #include "KX_RaySensor.h" #include "SCA_EventManager.h" #include "SCA_RandomEventManager.h" #include "SCA_LogicManager.h" #include "SCA_IObject.h" #include "KX_ClientObjectInfo.h" #include "KX_GameObject.h" #include "KX_Scene.h" #include "KX_RayCast.h" #include "KX_PyMath.h" #include "PHY_IPhysicsEnvironment.h" #include "KX_IPhysicsController.h" #include "PHY_IPhysicsController.h" #include KX_RaySensor::KX_RaySensor(class SCA_EventManager* eventmgr, SCA_IObject* gameobj, const STR_String& propname, bool bFindMaterial, bool bXRay, double distance, int axis, KX_Scene* ketsjiScene) : SCA_ISensor(gameobj,eventmgr), m_propertyname(propname), m_bFindMaterial(bFindMaterial), m_bXRay(bXRay), m_distance(distance), m_scene(ketsjiScene), m_axis(axis) { Init(); } void KX_RaySensor::Init() { m_bTriggered = (m_invert)?true:false; m_rayHit = false; m_hitObject = NULL; m_reset = true; } KX_RaySensor::~KX_RaySensor() { /* Nothing to be done here. */ } CValue* KX_RaySensor::GetReplica() { KX_RaySensor* replica = new KX_RaySensor(*this); replica->ProcessReplica(); replica->Init(); return replica; } bool KX_RaySensor::IsPositiveTrigger() { bool result = m_rayHit; if (m_invert) result = !result; return result; } bool KX_RaySensor::RayHit(KX_ClientObjectInfo* client, KX_RayCast* result, void * const data) { KX_GameObject* hitKXObj = client->m_gameobject; bool bFound = false; if (m_propertyname.Length() == 0) { bFound = true; } else { if (m_bFindMaterial) { if (client->m_auxilary_info) { bFound = (m_propertyname== ((char*)client->m_auxilary_info)); } } else { bFound = hitKXObj->GetProperty(m_propertyname) != NULL; } } if (bFound) { m_rayHit = true; m_hitObject = hitKXObj; m_hitPosition[0] = result->m_hitPoint[0]; m_hitPosition[1] = result->m_hitPoint[1]; m_hitPosition[2] = result->m_hitPoint[2]; m_hitNormal[0] = result->m_hitNormal[0]; m_hitNormal[1] = result->m_hitNormal[1]; m_hitNormal[2] = result->m_hitNormal[2]; } // no multi-hit search yet return true; } /* this function is used to pre-filter the object before casting the ray on them. This is useful for "X-Ray" option when we want to see "through" unwanted object. */ bool KX_RaySensor::NeedRayCast(KX_ClientObjectInfo* client) { if (client->m_type > KX_ClientObjectInfo::ACTOR) { // Unknown type of object, skip it. // Should not occur as the sensor objects are filtered in RayTest() printf("Invalid client type %d found ray casting\n", client->m_type); return false; } if (m_bXRay && m_propertyname.Length() != 0) { if (m_bFindMaterial) { // not quite correct: an object may have multiple material // should check all the material and not only the first one if (!client->m_auxilary_info || (m_propertyname != ((char*)client->m_auxilary_info))) return false; } else { if (client->m_gameobject->GetProperty(m_propertyname) == NULL) return false; } } return true; } bool KX_RaySensor::Evaluate() { bool result = false; bool reset = m_reset && m_level; m_rayHit = false; m_hitObject = NULL; m_hitPosition[0] = 0; m_hitPosition[1] = 0; m_hitPosition[2] = 0; m_hitNormal[0] = 1; m_hitNormal[1] = 0; m_hitNormal[2] = 0; KX_GameObject* obj = (KX_GameObject*)GetParent(); MT_Point3 frompoint = obj->NodeGetWorldPosition(); MT_Matrix3x3 matje = obj->NodeGetWorldOrientation(); MT_Matrix3x3 invmat = matje.inverse(); MT_Vector3 todir; m_reset = false; switch (m_axis) { case 1: // X { todir[0] = invmat[0][0]; todir[1] = invmat[0][1]; todir[2] = invmat[0][2]; break; } case 0: // Y { todir[0] = invmat[1][0]; todir[1] = invmat[1][1]; todir[2] = invmat[1][2]; break; } case 2: // Z { todir[0] = invmat[2][0]; todir[1] = invmat[2][1]; todir[2] = invmat[2][2]; break; } case 3: // -X { todir[0] = -invmat[0][0]; todir[1] = -invmat[0][1]; todir[2] = -invmat[0][2]; break; } case 4: // -Y { todir[0] = -invmat[1][0]; todir[1] = -invmat[1][1]; todir[2] = -invmat[1][2]; break; } case 5: // -Z { todir[0] = -invmat[2][0]; todir[1] = -invmat[2][1]; todir[2] = -invmat[2][2]; break; } } todir.normalize(); m_rayDirection[0] = todir[0]; m_rayDirection[1] = todir[1]; m_rayDirection[2] = todir[2]; MT_Point3 topoint = frompoint + (m_distance) * todir; PHY_IPhysicsEnvironment* pe = m_scene->GetPhysicsEnvironment(); if (!pe) { std::cout << "WARNING: Ray sensor " << GetName() << ": There is no physics environment!" << std::endl; std::cout << " Check universe for malfunction." << std::endl; return false; } KX_IPhysicsController *spc = obj->GetPhysicsController(); KX_GameObject *parent = obj->GetParent(); if (!spc && parent) spc = parent->GetPhysicsController(); if (parent) parent->Release(); PHY_IPhysicsEnvironment* physics_environment = this->m_scene->GetPhysicsEnvironment(); KX_RayCast::Callback callback(this, spc); KX_RayCast::RayTest(physics_environment, frompoint, topoint, callback); /* now pass this result to some controller */ if (m_rayHit) { if (!m_bTriggered) { // notify logicsystem that ray is now hitting result = true; m_bTriggered = true; } else { // notify logicsystem that ray is STILL hitting ... result = false; } } else { if (m_bTriggered) { m_bTriggered = false; // notify logicsystem that ray JUST left the Object result = true; } else { result = false; } } if (reset) // force an event result = true; return result; } #ifndef DISABLE_PYTHON /* ------------------------------------------------------------------------- */ /* Python functions */ /* ------------------------------------------------------------------------- */ /* Integration hooks ------------------------------------------------------- */ PyTypeObject KX_RaySensor::Type = { PyVarObject_HEAD_INIT(NULL, 0) "KX_RaySensor", sizeof(PyObjectPlus_Proxy), 0, py_base_dealloc, 0, 0, 0, 0, py_base_repr, 0,0,0,0,0,0,0,0,0, Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE, 0,0,0,0,0,0,0, Methods, 0, 0, &SCA_ISensor::Type, 0,0,0,0,0,0, py_base_new }; PyMethodDef KX_RaySensor::Methods[] = { {NULL,NULL} //Sentinel }; PyAttributeDef KX_RaySensor::Attributes[] = { KX_PYATTRIBUTE_BOOL_RW("useMaterial", KX_RaySensor, m_bFindMaterial), KX_PYATTRIBUTE_BOOL_RW("useXRay", KX_RaySensor, m_bXRay), KX_PYATTRIBUTE_FLOAT_RW("range", 0, 10000, KX_RaySensor, m_distance), KX_PYATTRIBUTE_STRING_RW("propName", 0, 100, false, KX_RaySensor, m_propertyname), KX_PYATTRIBUTE_INT_RW("axis", 0, 5, true, KX_RaySensor, m_axis), KX_PYATTRIBUTE_FLOAT_ARRAY_RO("hitPosition", KX_RaySensor, m_hitPosition, 3), KX_PYATTRIBUTE_FLOAT_ARRAY_RO("rayDirection", KX_RaySensor, m_rayDirection, 3), KX_PYATTRIBUTE_FLOAT_ARRAY_RO("hitNormal", KX_RaySensor, m_hitNormal, 3), KX_PYATTRIBUTE_RO_FUNCTION("hitObject", KX_RaySensor, pyattr_get_hitobject), { NULL } //Sentinel }; PyObject* KX_RaySensor::pyattr_get_hitobject(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef) { KX_RaySensor* self = static_cast(self_v); if (self->m_hitObject) return self->m_hitObject->GetProxy(); Py_RETURN_NONE; } #endif // DISABLE_PYTHON