KX_GameObject.cpp

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/*
 * $Id: KX_GameObject.cpp 38273 2011-07-09 19:59:32Z 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 *****
 * Game object wrapper
 */

#if defined(_WIN64)
typedef unsigned __int64 uint_ptr;
#else
typedef unsigned long uint_ptr;
#endif

#if defined(WIN32) && !defined(FREE_WINDOWS)
// This warning tells us about truncation of __long__ stl-generated names.
// It can occasionally cause DevStudio to have internal compiler warnings.
#pragma warning( disable : 4786 )     
#endif


#define KX_INERTIA_INFINITE 10000
#include "RAS_IPolygonMaterial.h"
#include "KX_BlenderMaterial.h"
#include "KX_GameObject.h"
#include "KX_Camera.h" // only for their ::Type
#include "KX_Light.h"  // only for their ::Type
#include "KX_FontObject.h"  // only for their ::Type
#include "RAS_MeshObject.h"
#include "KX_MeshProxy.h"
#include "KX_PolyProxy.h"
#include <stdio.h> // printf
#include "SG_Controller.h"
#include "KX_IPhysicsController.h"
#include "PHY_IGraphicController.h"
#include "SG_Node.h"
#include "SG_Controller.h"
#include "KX_ClientObjectInfo.h"
#include "RAS_BucketManager.h"
#include "KX_RayCast.h"
#include "KX_PythonInit.h"
#include "KX_PyMath.h"
#include "KX_PythonSeq.h"
#include "KX_ConvertPhysicsObject.h"
#include "SCA_IActuator.h"
#include "SCA_ISensor.h"
#include "SCA_IController.h"
#include "NG_NetworkScene.h" //Needed for sendMessage()

#include "PyObjectPlus.h" /* python stuff */

// This file defines relationships between parents and children
// in the game engine.

#include "KX_SG_NodeRelationships.h"

#include "BLI_math.h"

static MT_Point3 dummy_point= MT_Point3(0.0, 0.0, 0.0);
static MT_Vector3 dummy_scaling = MT_Vector3(1.0, 1.0, 1.0);
static MT_Matrix3x3 dummy_orientation = MT_Matrix3x3(   1.0, 0.0, 0.0,
                                                                                                                0.0, 1.0, 0.0,
                                                                                                                0.0, 0.0, 1.0);

KX_GameObject::KX_GameObject(
        void* sgReplicationInfo,
        SG_Callbacks callbacks)
        : SCA_IObject(),
        m_bDyna(false),
        m_layer(0),
        m_pBlenderObject(NULL),
        m_pBlenderGroupObject(NULL),
        m_bSuspendDynamics(false),
        m_bUseObjectColor(false),
        m_bIsNegativeScaling(false),
        m_bVisible(true),
        m_bCulled(true),
        m_bOccluder(false),
        m_pPhysicsController1(NULL),
        m_pGraphicController(NULL),
        m_xray(false),
        m_pHitObject(NULL),
        m_isDeformable(false)
#ifdef WITH_PYTHON
        , m_attr_dict(NULL)
#endif
{
        m_ignore_activity_culling = false;
        m_pClient_info = new KX_ClientObjectInfo(this, KX_ClientObjectInfo::ACTOR);
        m_pSGNode = new SG_Node(this,sgReplicationInfo,callbacks);

        // define the relationship between this node and it's parent.
        
        KX_NormalParentRelation * parent_relation = 
                KX_NormalParentRelation::New();
        m_pSGNode->SetParentRelation(parent_relation);
};



KX_GameObject::~KX_GameObject()
{
        RemoveMeshes();

        // is this delete somewhere ?
        //if (m_sumoObj)
        //      delete m_sumoObj;
        delete m_pClient_info;
        //if (m_pSGNode)
        //      delete m_pSGNode;
        if (m_pSGNode)
        {
                // must go through controllers and make sure they will not use us anymore
                // This is important for KX_BulletPhysicsControllers that unregister themselves
                // from the object when they are deleted.
                SGControllerList::iterator contit;
                SGControllerList& controllers = m_pSGNode->GetSGControllerList();
                for (contit = controllers.begin();contit!=controllers.end();++contit)
                {
                        (*contit)->ClearObject();
                }
                m_pSGNode->SetSGClientObject(NULL);

                /* m_pSGNode is freed in KX_Scene::RemoveNodeDestructObject */
        }
        if (m_pGraphicController)
        {
                delete m_pGraphicController;
        }
#ifdef WITH_PYTHON
        if (m_attr_dict) {
                PyDict_Clear(m_attr_dict); /* incase of circular refs or other weird cases */
                /* Py_CLEAR: Py_DECREF's and NULL's */
                Py_CLEAR(m_attr_dict);
        }
#endif // WITH_PYTHON
}

KX_GameObject* KX_GameObject::GetClientObject(KX_ClientObjectInfo* info)
{
        if (!info)
                return NULL;
        return info->m_gameobject;
}

CValue* KX_GameObject::	Calc(VALUE_OPERATOR op, CValue *val) 
{
        return NULL;
}



CValue* KX_GameObject::CalcFinal(VALUE_DATA_TYPE dtype, VALUE_OPERATOR op, CValue *val)
{
        return NULL;
}



const STR_String & KX_GameObject::GetText()
{
        return m_text;
}



double KX_GameObject::GetNumber()
{
        return 0;
}



STR_String& KX_GameObject::GetName()
{
        return m_name;
}



void KX_GameObject::SetName(const char *name)
{
        m_name = name;
};                                                              // Set the name of the value

KX_IPhysicsController* KX_GameObject::GetPhysicsController()
{
        return m_pPhysicsController1;
}

KX_GameObject* KX_GameObject::GetParent()
{
        KX_GameObject* result = NULL;
        SG_Node* node = m_pSGNode;
        
        while (node && !result)
        {
                node = node->GetSGParent();
                if (node)
                        result = (KX_GameObject*)node->GetSGClientObject();
        }
        
        if (result)
                result->AddRef();

        return result;
        
}

void KX_GameObject::SetParent(KX_Scene *scene, KX_GameObject* obj, bool addToCompound, bool ghost)
{
        // check on valid node in case a python controller holds a reference to a deleted object
        if (obj && 
                GetSGNode() &&                  // object is not zombi
                obj->GetSGNode() &&             // object is not zombi
                GetSGNode()->GetSGParent() != obj->GetSGNode() &&       // not already parented to same object
                !GetSGNode()->IsAncessor(obj->GetSGNode()) &&           // no parenting loop
                this != obj)                                                                            // not the object itself
        {
                // Make sure the objects have some scale
                MT_Vector3 scale1 = NodeGetWorldScaling();
                MT_Vector3 scale2 = obj->NodeGetWorldScaling();
                if (fabs(scale2[0]) < FLT_EPSILON || 
                        fabs(scale2[1]) < FLT_EPSILON || 
                        fabs(scale2[2]) < FLT_EPSILON || 
                        fabs(scale1[0]) < FLT_EPSILON || 
                        fabs(scale1[1]) < FLT_EPSILON || 
                        fabs(scale1[2]) < FLT_EPSILON) { return; }

                // Remove us from our old parent and set our new parent
                RemoveParent(scene);
                obj->GetSGNode()->AddChild(GetSGNode());

                if (m_pPhysicsController1) 
                {
                        m_pPhysicsController1->SuspendDynamics(ghost);
                }
                // Set us to our new scale, position, and orientation
                scale2[0] = 1.0/scale2[0];
                scale2[1] = 1.0/scale2[1];
                scale2[2] = 1.0/scale2[2];
                scale1 = scale1 * scale2;
                MT_Matrix3x3 invori = obj->NodeGetWorldOrientation().inverse();
                MT_Vector3 newpos = invori*(NodeGetWorldPosition()-obj->NodeGetWorldPosition())*scale2;

                NodeSetLocalScale(scale1);
                NodeSetLocalPosition(MT_Point3(newpos[0],newpos[1],newpos[2]));
                NodeSetLocalOrientation(invori*NodeGetWorldOrientation());
                NodeUpdateGS(0.f);
                // object will now be a child, it must be removed from the parent list
                CListValue* rootlist = scene->GetRootParentList();
                if (rootlist->RemoveValue(this))
                        // the object was in parent list, decrement ref count as it's now removed
                        Release();
                // if the new parent is a compound object, add this object shape to the compound shape.
                // step 0: verify this object has physical controller
                if (m_pPhysicsController1 && addToCompound)
                {
                        // step 1: find the top parent (not necessarily obj)
                        KX_GameObject* rootobj = (KX_GameObject*)obj->GetSGNode()->GetRootSGParent()->GetSGClientObject();
                        // step 2: verify it has a physical controller and compound shape
                        if (rootobj != NULL && 
                                rootobj->m_pPhysicsController1 != NULL &&
                                rootobj->m_pPhysicsController1->IsCompound())
                        {
                                rootobj->m_pPhysicsController1->AddCompoundChild(m_pPhysicsController1);
                        }
                }
                // graphically, the object hasn't change place, no need to update m_pGraphicController
        }
}

void KX_GameObject::RemoveParent(KX_Scene *scene)
{
        // check on valid node in case a python controller holds a reference to a deleted object
        if (GetSGNode() && GetSGNode()->GetSGParent())
        {
                // get the root object to remove us from compound object if needed
                KX_GameObject* rootobj = (KX_GameObject*)GetSGNode()->GetRootSGParent()->GetSGClientObject();
                // Set us to the right spot 
                GetSGNode()->SetLocalScale(GetSGNode()->GetWorldScaling());
                GetSGNode()->SetLocalOrientation(GetSGNode()->GetWorldOrientation());
                GetSGNode()->SetLocalPosition(GetSGNode()->GetWorldPosition());

                // Remove us from our parent
                GetSGNode()->DisconnectFromParent();
                NodeUpdateGS(0.f);
                // the object is now a root object, add it to the parentlist
                CListValue* rootlist = scene->GetRootParentList();
                if (!rootlist->SearchValue(this))
                        // object was not in root list, add it now and increment ref count
                        rootlist->Add(AddRef());
                if (m_pPhysicsController1) 
                {
                        // in case this controller was added as a child shape to the parent
                        if (rootobj != NULL && 
                                rootobj->m_pPhysicsController1 != NULL &&
                                rootobj->m_pPhysicsController1->IsCompound())
                        {
                                rootobj->m_pPhysicsController1->RemoveCompoundChild(m_pPhysicsController1);
                        }
                        m_pPhysicsController1->RestoreDynamics();
                        if (m_pPhysicsController1->IsDyna() && (rootobj != NULL && rootobj->m_pPhysicsController1))
                        {
                                // dynamic object should remember the velocity they had while being parented
                                MT_Point3 childPoint = GetSGNode()->GetWorldPosition();
                                MT_Point3 rootPoint = rootobj->GetSGNode()->GetWorldPosition();
                                MT_Point3 relPoint;
                                relPoint = (childPoint-rootPoint);
                                MT_Vector3 linVel = rootobj->m_pPhysicsController1->GetVelocity(relPoint);
                                MT_Vector3 angVel = rootobj->m_pPhysicsController1->GetAngularVelocity();
                                m_pPhysicsController1->SetLinearVelocity(linVel, false);
                                m_pPhysicsController1->SetAngularVelocity(angVel, false);
                        }
                }
                // graphically, the object hasn't change place, no need to update m_pGraphicController
        }
}

void KX_GameObject::ProcessReplica()
{
        SCA_IObject::ProcessReplica();
        
        m_pPhysicsController1 = NULL;
        m_pGraphicController = NULL;
        m_pSGNode = NULL;
        m_pClient_info = new KX_ClientObjectInfo(*m_pClient_info);
        m_pClient_info->m_gameobject = this;
        m_state = 0;

#ifdef WITH_PYTHON
        if(m_attr_dict)
                m_attr_dict= PyDict_Copy(m_attr_dict);
#endif
                
}

static void setGraphicController_recursive(SG_Node* node)
{
        NodeList& children = node->GetSGChildren();

        for (NodeList::iterator childit = children.begin();!(childit==children.end());++childit)
        {
                SG_Node* childnode = (*childit);
                KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
                if (clientgameobj != NULL) // This is a GameObject
                        clientgameobj->ActivateGraphicController(false);
                
                // if the childobj is NULL then this may be an inverse parent link
                // so a non recursive search should still look down this node.
                setGraphicController_recursive(childnode);
        }
}


void KX_GameObject::ActivateGraphicController(bool recurse)
{
        if (m_pGraphicController)
        {
                m_pGraphicController->Activate(m_bVisible);
        }
        if (recurse)
        {
                setGraphicController_recursive(GetSGNode());
        }
}


CValue* KX_GameObject::GetReplica()
{
        KX_GameObject* replica = new KX_GameObject(*this);

        // this will copy properties and so on...
        replica->ProcessReplica();

        return replica;
}



void KX_GameObject::ApplyForce(const MT_Vector3& force,bool local)
{
        if (m_pPhysicsController1)
                m_pPhysicsController1->ApplyForce(force,local);
}



void KX_GameObject::ApplyTorque(const MT_Vector3& torque,bool local)
{
        if (m_pPhysicsController1)
                m_pPhysicsController1->ApplyTorque(torque,local);
}



void KX_GameObject::ApplyMovement(const MT_Vector3& dloc,bool local)
{
        if (GetSGNode()) 
        {
                if (m_pPhysicsController1) // (IsDynamic())
                {
                        m_pPhysicsController1->RelativeTranslate(dloc,local);
                }
                GetSGNode()->RelativeTranslate(dloc,GetSGNode()->GetSGParent(),local);
        }
}



void KX_GameObject::ApplyRotation(const MT_Vector3& drot,bool local)
{
        MT_Matrix3x3 rotmat(drot);
        
        if (GetSGNode()) {
                GetSGNode()->RelativeRotate(rotmat,local);

                if (m_pPhysicsController1) { // (IsDynamic())
                        m_pPhysicsController1->RelativeRotate(rotmat,local); 
                }
        }
}



double* KX_GameObject::GetOpenGLMatrix()
{
        // todo: optimize and only update if necessary
        double* fl = m_OpenGL_4x4Matrix.getPointer();
        if (GetSGNode()) {
                MT_Transform trans;
        
                trans.setOrigin(GetSGNode()->GetWorldPosition());
                trans.setBasis(GetSGNode()->GetWorldOrientation());
        
                MT_Vector3 scaling = GetSGNode()->GetWorldScaling();
                m_bIsNegativeScaling = ((scaling[0] < 0.0) ^ (scaling[1] < 0.0) ^ (scaling[2] < 0.0)) ? true : false;
                trans.scale(scaling[0], scaling[1], scaling[2]);
                trans.getValue(fl);
                GetSGNode()->ClearDirty();
        }
        return fl;
}

void KX_GameObject::UpdateBlenderObjectMatrix(Object* blendobj)
{
        if (!blendobj)
                blendobj = m_pBlenderObject;
        if (blendobj) {
                const MT_Matrix3x3& rot = NodeGetWorldOrientation();
                const MT_Vector3& scale = NodeGetWorldScaling();
                const MT_Vector3& pos = NodeGetWorldPosition();
                rot.getValue(blendobj->obmat[0]);
                pos.getValue(blendobj->obmat[3]);
                mul_v3_fl(blendobj->obmat[0], scale[0]);
                mul_v3_fl(blendobj->obmat[1], scale[1]);
                mul_v3_fl(blendobj->obmat[2], scale[2]);
        }
}

void KX_GameObject::AddMeshUser()
{
        for (size_t i=0;i<m_meshes.size();i++)
        {
                m_meshes[i]->AddMeshUser(this, &m_meshSlots, GetDeformer());
        }
        // set the part of the mesh slot that never change
        double* fl = GetOpenGLMatrixPtr()->getPointer();

        SG_QList::iterator<RAS_MeshSlot> mit(m_meshSlots);
//      RAS_MeshSlot* ms;
        for(mit.begin(); !mit.end(); ++mit)
        {
                (*mit)->m_OpenGLMatrix = fl;
        }
        UpdateBuckets(false);
}

static void UpdateBuckets_recursive(SG_Node* node)
{
        NodeList& children = node->GetSGChildren();

        for (NodeList::iterator childit = children.begin();!(childit==children.end());++childit)
        {
                SG_Node* childnode = (*childit);
                KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
                if (clientgameobj != NULL) // This is a GameObject
                        clientgameobj->UpdateBuckets(0);
                
                // if the childobj is NULL then this may be an inverse parent link
                // so a non recursive search should still look down this node.
                UpdateBuckets_recursive(childnode);
        }
}

void KX_GameObject::UpdateBuckets( bool recursive )
{
        if (GetSGNode()) {
                RAS_MeshSlot *ms;

                if (GetSGNode()->IsDirty())
                        GetOpenGLMatrix();

                SG_QList::iterator<RAS_MeshSlot> mit(m_meshSlots);
                for(mit.begin(); !mit.end(); ++mit)
                {
                        ms = *mit;
                        ms->m_bObjectColor = m_bUseObjectColor;
                        ms->m_RGBAcolor = m_objectColor;
                        ms->m_bVisible = m_bVisible;
                        ms->m_bCulled = m_bCulled || !m_bVisible;
                        if (!ms->m_bCulled) 
                                ms->m_bucket->ActivateMesh(ms);
                        
                        /* split if necessary */
#ifdef USE_SPLIT
                        ms->Split();
#endif
                }
        
                if (recursive) {
                        UpdateBuckets_recursive(GetSGNode());
                }
        }
}

void KX_GameObject::RemoveMeshes()
{
        for (size_t i=0;i<m_meshes.size();i++)
                m_meshes[i]->RemoveFromBuckets(this);

        //note: meshes can be shared, and are deleted by KX_BlenderSceneConverter

        m_meshes.clear();
}

void KX_GameObject::UpdateTransform()
{
        // HACK: saves function call for dynamic object, they are handled differently
        if (m_pPhysicsController1 && !m_pPhysicsController1->IsDyna())
                // Note that for Bullet, this does not even update the transform of static object
                // but merely sets there collision flag to "kinematic" because the synchronization is 
                // done during physics simulation
                m_pPhysicsController1->SetSumoTransform(true);
        if (m_pGraphicController)
                // update the culling tree
                m_pGraphicController->SetGraphicTransform();

}

void KX_GameObject::UpdateTransformFunc(SG_IObject* node, void* gameobj, void* scene)
{
        ((KX_GameObject*)gameobj)->UpdateTransform();
}

void KX_GameObject::SynchronizeTransform()
{
        // only used for sensor object, do full synchronization as bullet doesn't do it
        if (m_pPhysicsController1)
                m_pPhysicsController1->SetTransform();
        if (m_pGraphicController)
                m_pGraphicController->SetGraphicTransform();
}

void KX_GameObject::SynchronizeTransformFunc(SG_IObject* node, void* gameobj, void* scene)
{
        ((KX_GameObject*)gameobj)->SynchronizeTransform();
}


void KX_GameObject::SetDebugColor(unsigned int bgra)
{
        for (size_t i=0;i<m_meshes.size();i++)
                m_meshes[i]->DebugColor(bgra);  
}



void KX_GameObject::ResetDebugColor()
{
        SetDebugColor(0xff000000);
}

void KX_GameObject::InitIPO(bool ipo_as_force,
                                                        bool ipo_add,
                                                        bool ipo_local)
{
        SGControllerList::iterator it = GetSGNode()->GetSGControllerList().begin();

        while (it != GetSGNode()->GetSGControllerList().end()) {
                (*it)->SetOption(SG_Controller::SG_CONTR_IPO_RESET, true);
                (*it)->SetOption(SG_Controller::SG_CONTR_IPO_IPO_AS_FORCE, ipo_as_force);
                (*it)->SetOption(SG_Controller::SG_CONTR_IPO_IPO_ADD, ipo_add);
                (*it)->SetOption(SG_Controller::SG_CONTR_IPO_LOCAL, ipo_local);
                it++;
        }
} 

void KX_GameObject::UpdateIPO(float curframetime,
                                                          bool recurse) 
{
        // just the 'normal' update procedure.
        GetSGNode()->SetSimulatedTime(curframetime,recurse);
        GetSGNode()->UpdateWorldData(curframetime);
        UpdateTransform();
}

// IPO update
void 
KX_GameObject::UpdateMaterialData(
                dword matname_hash,
                MT_Vector4 rgba,
                MT_Vector3 specrgb,
                MT_Scalar hard,
                MT_Scalar spec,
                MT_Scalar ref,
                MT_Scalar emit,
                MT_Scalar alpha

        )
{
        int mesh = 0;
        if (((unsigned int)mesh < m_meshes.size()) && mesh >= 0) {
                list<RAS_MeshMaterial>::iterator mit = m_meshes[mesh]->GetFirstMaterial();

                for(; mit != m_meshes[mesh]->GetLastMaterial(); ++mit)
                {
                        RAS_IPolyMaterial* poly = mit->m_bucket->GetPolyMaterial();

                        if(poly->GetFlag() & RAS_BLENDERMAT )
                        {
                                KX_BlenderMaterial *m =  static_cast<KX_BlenderMaterial*>(poly);
                                
                                if (matname_hash == 0)
                                {
                                        m->UpdateIPO(rgba, specrgb,hard,spec,ref,emit, alpha);
                                        // if mesh has only one material attached to it then use original hack with no need to edit vertices (better performance)
                                        SetObjectColor(rgba);
                                }
                                else
                                {
                                        if (matname_hash == poly->GetMaterialNameHash())
                                        {
                                                m->UpdateIPO(rgba, specrgb,hard,spec,ref,emit, alpha);
                                                m_meshes[mesh]->SetVertexColor(poly,rgba);
                                                
                                                // no break here, because one blender material can be split into several game engine materials
                                                // (e.g. one uvsphere material is split into one material at poles with ras_mode TRIANGLE and one material for the body
                                                // if here was a break then would miss some vertices if material was split
                                        }
                                }
                        }
                }
        }
}
bool
KX_GameObject::GetVisible(
        void
        )
{
        return m_bVisible;
}

static void setVisible_recursive(SG_Node* node, bool v)
{
        NodeList& children = node->GetSGChildren();

        for (NodeList::iterator childit = children.begin();!(childit==children.end());++childit)
        {
                SG_Node* childnode = (*childit);
                KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
                if (clientgameobj != NULL) // This is a GameObject
                        clientgameobj->SetVisible(v, 0);
                
                // if the childobj is NULL then this may be an inverse parent link
                // so a non recursive search should still look down this node.
                setVisible_recursive(childnode, v);
        }
}


void
KX_GameObject::SetVisible(
        bool v,
        bool recursive
        )
{
        if (GetSGNode()) {
                m_bVisible = v;
                if (m_pGraphicController)
                        m_pGraphicController->Activate(m_bVisible);
                if (recursive)
                        setVisible_recursive(GetSGNode(), v);
        }
}

static void setOccluder_recursive(SG_Node* node, bool v)
{
        NodeList& children = node->GetSGChildren();

        for (NodeList::iterator childit = children.begin();!(childit==children.end());++childit)
        {
                SG_Node* childnode = (*childit);
                KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
                if (clientgameobj != NULL) // This is a GameObject
                        clientgameobj->SetOccluder(v, false);
                
                // if the childobj is NULL then this may be an inverse parent link
                // so a non recursive search should still look down this node.
                setOccluder_recursive(childnode, v);
        }
}

void
KX_GameObject::SetOccluder(
        bool v,
        bool recursive
        )
{
        if (GetSGNode()) {
                m_bOccluder = v;
                if (recursive)
                        setOccluder_recursive(GetSGNode(), v);
        }
}

void
KX_GameObject::SetLayer(
        int l
        )
{
        m_layer = l;
}

int
KX_GameObject::GetLayer(
        void
        )
{
        return m_layer;
}

void KX_GameObject::addLinearVelocity(const MT_Vector3& lin_vel,bool local)
{
        if (m_pPhysicsController1) 
        {
                MT_Vector3 lv = local ? NodeGetWorldOrientation() * lin_vel : lin_vel;
                m_pPhysicsController1->SetLinearVelocity(lv + m_pPhysicsController1->GetLinearVelocity(), 0);
        }
}



void KX_GameObject::setLinearVelocity(const MT_Vector3& lin_vel,bool local)
{
        if (m_pPhysicsController1)
                m_pPhysicsController1->SetLinearVelocity(lin_vel,local);
}



void KX_GameObject::setAngularVelocity(const MT_Vector3& ang_vel,bool local)
{
        if (m_pPhysicsController1)
                m_pPhysicsController1->SetAngularVelocity(ang_vel,local);
}


void KX_GameObject::ResolveCombinedVelocities(
        const MT_Vector3 & lin_vel,
        const MT_Vector3 & ang_vel,
        bool lin_vel_local,
        bool ang_vel_local
){
        if (m_pPhysicsController1)
        {

                MT_Vector3 lv = lin_vel_local ? NodeGetWorldOrientation() * lin_vel : lin_vel;
                MT_Vector3 av = ang_vel_local ? NodeGetWorldOrientation() * ang_vel : ang_vel;
                m_pPhysicsController1->resolveCombinedVelocities(
                        lv.x(),lv.y(),lv.z(),av.x(),av.y(),av.z());
        }
}


void KX_GameObject::SetObjectColor(const MT_Vector4& rgbavec)
{
        m_bUseObjectColor = true;
        m_objectColor = rgbavec;
}

const MT_Vector4& KX_GameObject::GetObjectColor()
{
        return m_objectColor;
}

void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis, float fac)
{
        MT_Matrix3x3 orimat;
        MT_Vector3 vect,ori,z,x,y;
        MT_Scalar len;

        // check on valid node in case a python controller holds a reference to a deleted object
        if (!GetSGNode())
                return;

        vect = dir;
        len = vect.length();
        if (MT_fuzzyZero(len))
        {
                cout << "alignAxisToVect() Error: Null vector!\n";
                return;
        }
        
        if (fac<=0.0) {
                return;
        }
        
        // normalize
        vect /= len;
        orimat = GetSGNode()->GetWorldOrientation();
        switch (axis)
        {       
                case 0: //x axis
                        ori.setValue(orimat[0][2], orimat[1][2], orimat[2][2]); //pivot axis
                        if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON) //is the vector parallel to the pivot?
                                ori.setValue(orimat[0][1], orimat[1][1], orimat[2][1]); //change the pivot!
                        if (fac == 1.0) {
                                x = vect;
                        } else {
                                x = (vect * fac) + ((orimat * MT_Vector3(1.0, 0.0, 0.0)) * (1-fac));
                                len = x.length();
                                if (MT_fuzzyZero(len)) x = vect;
                                else x /= len;
                        }
                        y = ori.cross(x);
                        z = x.cross(y);
                        break;
                case 1: //y axis
                        ori.setValue(orimat[0][0], orimat[1][0], orimat[2][0]);
                        if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON)
                                ori.setValue(orimat[0][2], orimat[1][2], orimat[2][2]);
                        if (fac == 1.0) {
                                y = vect;
                        } else {
                                y = (vect * fac) + ((orimat * MT_Vector3(0.0, 1.0, 0.0)) * (1-fac));
                                len = y.length();
                                if (MT_fuzzyZero(len)) y = vect;
                                else y /= len;
                        }
                        z = ori.cross(y);
                        x = y.cross(z);
                        break;
                case 2: //z axis
                        ori.setValue(orimat[0][1], orimat[1][1], orimat[2][1]);
                        if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON)
                                ori.setValue(orimat[0][0], orimat[1][0], orimat[2][0]);
                        if (fac == 1.0) {
                                z = vect;
                        } else {
                                z = (vect * fac) + ((orimat * MT_Vector3(0.0, 0.0, 1.0)) * (1-fac));
                                len = z.length();
                                if (MT_fuzzyZero(len)) z = vect;
                                else z /= len;
                        }
                        x = ori.cross(z);
                        y = z.cross(x);
                        break;
                default: //wrong input?
                        cout << "alignAxisToVect(): Wrong axis '" << axis <<"'\n";
                        return;
        }
        x.normalize(); //normalize the vectors
        y.normalize();
        z.normalize();
        orimat.setValue(        x[0],y[0],z[0],
                                                x[1],y[1],z[1],
                                                x[2],y[2],z[2]);
        if (GetSGNode()->GetSGParent() != NULL)
        {
                // the object is a child, adapt its local orientation so that 
                // the global orientation is aligned as we want.
                MT_Matrix3x3 invori = GetSGNode()->GetSGParent()->GetWorldOrientation().inverse();
                NodeSetLocalOrientation(invori*orimat);
        }
        else
                NodeSetLocalOrientation(orimat);
}

MT_Scalar KX_GameObject::GetMass()
{
        if (m_pPhysicsController1)
        {
                return m_pPhysicsController1->GetMass();
        }
        return 0.0;
}

MT_Vector3 KX_GameObject::GetLocalInertia()
{
        MT_Vector3 local_inertia(0.0,0.0,0.0);
        if (m_pPhysicsController1)
        {
                local_inertia = m_pPhysicsController1->GetLocalInertia();
        }
        return local_inertia;
}

MT_Vector3 KX_GameObject::GetLinearVelocity(bool local)
{
        MT_Vector3 velocity(0.0,0.0,0.0), locvel;
        MT_Matrix3x3 ori;
        if (m_pPhysicsController1)
        {
                velocity = m_pPhysicsController1->GetLinearVelocity();
                
                if (local)
                {
                        ori = GetSGNode()->GetWorldOrientation();
                        
                        locvel = velocity * ori;
                        return locvel;
                }
        }
        return velocity;        
}

MT_Vector3 KX_GameObject::GetAngularVelocity(bool local)
{
        MT_Vector3 velocity(0.0,0.0,0.0), locvel;
        MT_Matrix3x3 ori;
        if (m_pPhysicsController1)
        {
                velocity = m_pPhysicsController1->GetAngularVelocity();
                
                if (local)
                {
                        ori = GetSGNode()->GetWorldOrientation();
                        
                        locvel = velocity * ori;
                        return locvel;
                }
        }
        return velocity;        
}

MT_Vector3 KX_GameObject::GetVelocity(const MT_Point3& point)
{
        if (m_pPhysicsController1)
        {
                return m_pPhysicsController1->GetVelocity(point);
        }
        return MT_Vector3(0.0,0.0,0.0);
}

// scenegraph node stuff

void KX_GameObject::NodeSetLocalPosition(const MT_Point3& trans)
{
        // check on valid node in case a python controller holds a reference to a deleted object
        if (!GetSGNode())
                return;

        if (m_pPhysicsController1 && !GetSGNode()->GetSGParent())
        {
                // don't update physic controller if the object is a child:
                // 1) the transformation will not be right
                // 2) in this case, the physic controller is necessarily a static object
                //    that is updated from the normal kinematic synchronization
                m_pPhysicsController1->setPosition(trans);
        }

        GetSGNode()->SetLocalPosition(trans);

}



void KX_GameObject::NodeSetLocalOrientation(const MT_Matrix3x3& rot)
{
        // check on valid node in case a python controller holds a reference to a deleted object
        if (!GetSGNode())
                return;

        if (m_pPhysicsController1 && !GetSGNode()->GetSGParent())
        {
                // see note above
                m_pPhysicsController1->setOrientation(rot);
        }
        GetSGNode()->SetLocalOrientation(rot);
}

void KX_GameObject::NodeSetGlobalOrientation(const MT_Matrix3x3& rot)
{
        // check on valid node in case a python controller holds a reference to a deleted object
        if (!GetSGNode())
                return;

        if (GetSGNode()->GetSGParent())
                GetSGNode()->SetLocalOrientation(GetSGNode()->GetSGParent()->GetWorldOrientation().inverse()*rot);
        else
                NodeSetLocalOrientation(rot);
}

void KX_GameObject::NodeSetLocalScale(const MT_Vector3& scale)
{
        // check on valid node in case a python controller holds a reference to a deleted object
        if (!GetSGNode())
                return;

        if (m_pPhysicsController1 && !GetSGNode()->GetSGParent())
        {
                // see note above
                m_pPhysicsController1->setScaling(scale);
        }
        GetSGNode()->SetLocalScale(scale);
}



void KX_GameObject::NodeSetRelativeScale(const MT_Vector3& scale)
{
        if (GetSGNode())
        {
                GetSGNode()->RelativeScale(scale);
                if (m_pPhysicsController1 && (!GetSGNode()->GetSGParent()))
                {
                        // see note above
                        // we can use the local scale: it's the same thing for a root object 
                        // and the world scale is not yet updated
                        MT_Vector3 newscale = GetSGNode()->GetLocalScale();
                        m_pPhysicsController1->setScaling(newscale);
                }
        }
}

void KX_GameObject::NodeSetWorldPosition(const MT_Point3& trans)
{
        if (!GetSGNode())
                return;
        SG_Node* parent = GetSGNode()->GetSGParent();
        if (parent != NULL)
        {
                // Make sure the objects have some scale
                MT_Vector3 scale = parent->GetWorldScaling();
                if (fabs(scale[0]) < FLT_EPSILON || 
                        fabs(scale[1]) < FLT_EPSILON || 
                        fabs(scale[2]) < FLT_EPSILON)
                { 
                        return; 
                }
                scale[0] = 1.0/scale[0];
                scale[1] = 1.0/scale[1];
                scale[2] = 1.0/scale[2];
                MT_Matrix3x3 invori = parent->GetWorldOrientation().inverse();
                MT_Vector3 newpos = invori*(trans-parent->GetWorldPosition())*scale;
                NodeSetLocalPosition(MT_Point3(newpos[0],newpos[1],newpos[2]));
        }
        else 
        {
                NodeSetLocalPosition(trans);
        }
}


void KX_GameObject::NodeUpdateGS(double time)
{
        if (GetSGNode())
                GetSGNode()->UpdateWorldData(time);
}



const MT_Matrix3x3& KX_GameObject::NodeGetWorldOrientation() const
{
        // check on valid node in case a python controller holds a reference to a deleted object
        if (!GetSGNode())
                return dummy_orientation;
        return GetSGNode()->GetWorldOrientation();
}

const MT_Matrix3x3& KX_GameObject::NodeGetLocalOrientation() const
{
        // check on valid node in case a python controller holds a reference to a deleted object
        if (!GetSGNode())
                return dummy_orientation;
        return GetSGNode()->GetLocalOrientation();
}

const MT_Vector3& KX_GameObject::NodeGetWorldScaling() const
{
        // check on valid node in case a python controller holds a reference to a deleted object
        if (!GetSGNode())
                return dummy_scaling;

        return GetSGNode()->GetWorldScaling();
}

const MT_Vector3& KX_GameObject::NodeGetLocalScaling() const
{
        // check on valid node in case a python controller holds a reference to a deleted object
        if (!GetSGNode())
                return dummy_scaling;

        return GetSGNode()->GetLocalScale();
}

const MT_Point3& KX_GameObject::NodeGetWorldPosition() const
{
        // check on valid node in case a python controller holds a reference to a deleted object
        if (GetSGNode())
                return GetSGNode()->GetWorldPosition();
        else
                return dummy_point;
}

const MT_Point3& KX_GameObject::NodeGetLocalPosition() const
{
        // check on valid node in case a python controller holds a reference to a deleted object
        if (GetSGNode())
                return GetSGNode()->GetLocalPosition();
        else
                return dummy_point;
}


/* Suspend/ resume: for the dynamic behaviour, there is a simple
 * method. For the residual motion, there is not. I wonder what the
 * correct solution is for Sumo. Remove from the motion-update tree?
 *
 * So far, only switch the physics and logic.
 * */

void KX_GameObject::Resume(void)
{
        if (m_suspended) {
                SCA_IObject::Resume();
                if(GetPhysicsController())
                        GetPhysicsController()->RestoreDynamics();

                m_suspended = false;
        }
}

void KX_GameObject::Suspend()
{
        if ((!m_ignore_activity_culling) 
                && (!m_suspended))  {
                SCA_IObject::Suspend();
                if(GetPhysicsController())
                        GetPhysicsController()->SuspendDynamics();
                m_suspended = true;
        }
}

static void walk_children(SG_Node* node, CListValue* list, bool recursive)
{
        if (!node)
                return;
        NodeList& children = node->GetSGChildren();

        for (NodeList::iterator childit = children.begin();!(childit==children.end());++childit)
        {
                SG_Node* childnode = (*childit);
                CValue* childobj = (CValue*)childnode->GetSGClientObject();
                if (childobj != NULL) // This is a GameObject
                {
                        // add to the list
                        list->Add(childobj->AddRef());
                }
                
                // if the childobj is NULL then this may be an inverse parent link
                // so a non recursive search should still look down this node.
                if (recursive || childobj==NULL) {
                        walk_children(childnode, list, recursive);
                }
        }
}

CListValue* KX_GameObject::GetChildren()
{
        CListValue* list = new CListValue();
        walk_children(GetSGNode(), list, 0); /* GetSGNode() is always valid or it would have raised an exception before this */
        return list;
}

CListValue* KX_GameObject::GetChildrenRecursive()
{
        CListValue* list = new CListValue();
        walk_children(GetSGNode(), list, 1);
        return list;
}

/* ---------------------------------------------------------------------
 * Some stuff taken from the header
 * --------------------------------------------------------------------- */
void KX_GameObject::Relink(CTR_Map<CTR_HashedPtr, void*> *map_parameter)
{
        // we will relink the sensors and actuators that use object references
        // if the object is part of the replicated hierarchy, use the new
        // object reference instead
        SCA_SensorList& sensorlist = GetSensors();
        SCA_SensorList::iterator sit;
        for (sit=sensorlist.begin(); sit != sensorlist.end(); sit++)
        {
                (*sit)->Relink(map_parameter);
        }
        SCA_ActuatorList& actuatorlist = GetActuators();
        SCA_ActuatorList::iterator ait;
        for (ait=actuatorlist.begin(); ait != actuatorlist.end(); ait++)
        {
                (*ait)->Relink(map_parameter);
        }
}

#ifdef USE_MATHUTILS

/* These require an SGNode */
#define MATHUTILS_VEC_CB_POS_LOCAL 1
#define MATHUTILS_VEC_CB_POS_GLOBAL 2
#define MATHUTILS_VEC_CB_SCALE_LOCAL 3
#define MATHUTILS_VEC_CB_SCALE_GLOBAL 4
#define MATHUTILS_VEC_CB_INERTIA_LOCAL 5
#define MATHUTILS_VEC_CB_OBJECT_COLOR 6
#define MATHUTILS_VEC_CB_LINVEL_LOCAL 7
#define MATHUTILS_VEC_CB_LINVEL_GLOBAL 8
#define MATHUTILS_VEC_CB_ANGVEL_LOCAL 9
#define MATHUTILS_VEC_CB_ANGVEL_GLOBAL 10

static int mathutils_kxgameob_vector_cb_index= -1; /* index for our callbacks */

static int mathutils_kxgameob_generic_check(BaseMathObject *bmo)
{
        KX_GameObject* self= static_cast<KX_GameObject*>BGE_PROXY_REF(bmo->cb_user);
        if(self==NULL)
                return -1;
        
        return 0;
}

static int mathutils_kxgameob_vector_get(BaseMathObject *bmo, int subtype)
{
        KX_GameObject* self= static_cast<KX_GameObject*>BGE_PROXY_REF(bmo->cb_user);
        if(self==NULL)
                return -1;

#define PHYS_ERR(attr) PyErr_SetString(PyExc_AttributeError, "KX_GameObject." attr ", is missing a physics controller")

        switch(subtype) {
                case MATHUTILS_VEC_CB_POS_LOCAL:
                        self->NodeGetLocalPosition().getValue(bmo->data);
                        break;
                case MATHUTILS_VEC_CB_POS_GLOBAL:
                        self->NodeGetWorldPosition().getValue(bmo->data);
                        break;
                case MATHUTILS_VEC_CB_SCALE_LOCAL:
                        self->NodeGetLocalScaling().getValue(bmo->data);
                        break;
                case MATHUTILS_VEC_CB_SCALE_GLOBAL:
                        self->NodeGetWorldScaling().getValue(bmo->data);
                        break;
                case MATHUTILS_VEC_CB_INERTIA_LOCAL:
                        if(!self->GetPhysicsController()) return PHYS_ERR("localInertia"), -1;
                        self->GetPhysicsController()->GetLocalInertia().getValue(bmo->data);
                        break;
                case MATHUTILS_VEC_CB_OBJECT_COLOR:
                        self->GetObjectColor().getValue(bmo->data);
                        break;
                case MATHUTILS_VEC_CB_LINVEL_LOCAL:
                        if(!self->GetPhysicsController()) return PHYS_ERR("localLinearVelocity"), -1;
                        self->GetLinearVelocity(true).getValue(bmo->data);
                        break;
                case MATHUTILS_VEC_CB_LINVEL_GLOBAL:
                        if(!self->GetPhysicsController()) return PHYS_ERR("worldLinearVelocity"), -1;
                        self->GetLinearVelocity(false).getValue(bmo->data);
                        break;
                case MATHUTILS_VEC_CB_ANGVEL_LOCAL:
                        if(!self->GetPhysicsController()) return PHYS_ERR("localLinearVelocity"), -1;
                        self->GetAngularVelocity(true).getValue(bmo->data);
                        break;
                case MATHUTILS_VEC_CB_ANGVEL_GLOBAL:
                        if(!self->GetPhysicsController()) return PHYS_ERR("worldLinearVelocity"), -1;
                        self->GetAngularVelocity(false).getValue(bmo->data);
                        break;
                        
        }
        
#undef PHYS_ERR
        
        return 0;
}

static int mathutils_kxgameob_vector_set(BaseMathObject *bmo, int subtype)
{
        KX_GameObject* self= static_cast<KX_GameObject*>BGE_PROXY_REF(bmo->cb_user);
        if(self==NULL)
                return -1;
        
        switch(subtype) {
                case MATHUTILS_VEC_CB_POS_LOCAL:
                        self->NodeSetLocalPosition(MT_Point3(bmo->data));
                        self->NodeUpdateGS(0.f);
                        break;
                case MATHUTILS_VEC_CB_POS_GLOBAL:
                        self->NodeSetWorldPosition(MT_Point3(bmo->data));
                        self->NodeUpdateGS(0.f);
                        break;
                case MATHUTILS_VEC_CB_SCALE_LOCAL:
                        self->NodeSetLocalScale(MT_Point3(bmo->data));
                        self->NodeUpdateGS(0.f);
                        break;
                case MATHUTILS_VEC_CB_SCALE_GLOBAL:
                        PyErr_SetString(PyExc_AttributeError, "KX_GameObject.worldScale is read-only");
                        return -1;
                case MATHUTILS_VEC_CB_INERTIA_LOCAL:
                        /* read only */
                        break;
                case MATHUTILS_VEC_CB_OBJECT_COLOR:
                        self->SetObjectColor(MT_Vector4(bmo->data));
                        break;
                case MATHUTILS_VEC_CB_LINVEL_LOCAL:
                        self->setLinearVelocity(MT_Point3(bmo->data),true);
                        break;
                case MATHUTILS_VEC_CB_LINVEL_GLOBAL:
                        self->setLinearVelocity(MT_Point3(bmo->data),false);
                        break;
                case MATHUTILS_VEC_CB_ANGVEL_LOCAL:
                        self->setAngularVelocity(MT_Point3(bmo->data),true);
                        break;
                case MATHUTILS_VEC_CB_ANGVEL_GLOBAL:
                        self->setAngularVelocity(MT_Point3(bmo->data),false);
                        break;
        }
        
        return 0;
}

static int mathutils_kxgameob_vector_get_index(BaseMathObject *bmo, int subtype, int index)
{
        /* lazy, avoid repeteing the case statement */
        if(mathutils_kxgameob_vector_get(bmo, subtype) == -1)
                return -1;
        return 0;
}

static int mathutils_kxgameob_vector_set_index(BaseMathObject *bmo, int subtype, int index)
{
        float f= bmo->data[index];
        
        /* lazy, avoid repeteing the case statement */
        if(mathutils_kxgameob_vector_get(bmo, subtype) == -1)
                return -1;
        
        bmo->data[index]= f;
        return mathutils_kxgameob_vector_set(bmo, subtype);
}

Mathutils_Callback mathutils_kxgameob_vector_cb = {
        mathutils_kxgameob_generic_check,
        mathutils_kxgameob_vector_get,
        mathutils_kxgameob_vector_set,
        mathutils_kxgameob_vector_get_index,
        mathutils_kxgameob_vector_set_index
};

/* Matrix */
#define MATHUTILS_MAT_CB_ORI_LOCAL 1
#define MATHUTILS_MAT_CB_ORI_GLOBAL 2

static int mathutils_kxgameob_matrix_cb_index= -1; /* index for our callbacks */

static int mathutils_kxgameob_matrix_get(BaseMathObject *bmo, int subtype)
{
        KX_GameObject* self= static_cast<KX_GameObject*>BGE_PROXY_REF(bmo->cb_user);
        if(self==NULL)
                return -1;

        switch(subtype) {
                case MATHUTILS_MAT_CB_ORI_LOCAL:
                        self->NodeGetLocalOrientation().getValue3x3(bmo->data);
                        break;
                case MATHUTILS_MAT_CB_ORI_GLOBAL:
                        self->NodeGetWorldOrientation().getValue3x3(bmo->data);
                        break;
        }
        
        return 0;
}


static int mathutils_kxgameob_matrix_set(BaseMathObject *bmo, int subtype)
{
        KX_GameObject* self= static_cast<KX_GameObject*>BGE_PROXY_REF(bmo->cb_user);
        if(self==NULL)
                return -1;
        
        MT_Matrix3x3 mat3x3;
        switch(subtype) {
                case MATHUTILS_MAT_CB_ORI_LOCAL:
                        mat3x3.setValue3x3(bmo->data);
                        self->NodeSetLocalOrientation(mat3x3);
                        self->NodeUpdateGS(0.f);
                        break;
                case MATHUTILS_MAT_CB_ORI_GLOBAL:
                        mat3x3.setValue3x3(bmo->data);
                        self->NodeSetLocalOrientation(mat3x3);
                        self->NodeUpdateGS(0.f);
                        break;
        }
        
        return 0;
}

Mathutils_Callback mathutils_kxgameob_matrix_cb = {
        mathutils_kxgameob_generic_check,
        mathutils_kxgameob_matrix_get,
        mathutils_kxgameob_matrix_set,
        NULL,
        NULL
};


void KX_GameObject_Mathutils_Callback_Init(void)
{
        // register mathutils callbacks, ok to run more then once.
        mathutils_kxgameob_vector_cb_index= Mathutils_RegisterCallback(&mathutils_kxgameob_vector_cb);
        mathutils_kxgameob_matrix_cb_index= Mathutils_RegisterCallback(&mathutils_kxgameob_matrix_cb);
}

#endif // USE_MATHUTILS

#ifdef WITH_PYTHON
/* ------- python stuff ---------------------------------------------------*/
PyMethodDef KX_GameObject::Methods[] = {
        {"applyForce", (PyCFunction)    KX_GameObject::sPyApplyForce, METH_VARARGS},
        {"applyTorque", (PyCFunction)   KX_GameObject::sPyApplyTorque, METH_VARARGS},
        {"applyRotation", (PyCFunction) KX_GameObject::sPyApplyRotation, METH_VARARGS},
        {"applyMovement", (PyCFunction) KX_GameObject::sPyApplyMovement, METH_VARARGS},
        {"getLinearVelocity", (PyCFunction) KX_GameObject::sPyGetLinearVelocity, METH_VARARGS},
        {"setLinearVelocity", (PyCFunction) KX_GameObject::sPySetLinearVelocity, METH_VARARGS},
        {"getAngularVelocity", (PyCFunction) KX_GameObject::sPyGetAngularVelocity, METH_VARARGS},
        {"setAngularVelocity", (PyCFunction) KX_GameObject::sPySetAngularVelocity, METH_VARARGS},
        {"getVelocity", (PyCFunction) KX_GameObject::sPyGetVelocity, METH_VARARGS},
        {"getReactionForce", (PyCFunction) KX_GameObject::sPyGetReactionForce, METH_NOARGS},
        {"alignAxisToVect",(PyCFunction) KX_GameObject::sPyAlignAxisToVect, METH_VARARGS},
        {"getAxisVect",(PyCFunction) KX_GameObject::sPyGetAxisVect, METH_O},
        {"suspendDynamics", (PyCFunction)KX_GameObject::sPySuspendDynamics,METH_NOARGS},
        {"restoreDynamics", (PyCFunction)KX_GameObject::sPyRestoreDynamics,METH_NOARGS},
        {"enableRigidBody", (PyCFunction)KX_GameObject::sPyEnableRigidBody,METH_NOARGS},
        {"disableRigidBody", (PyCFunction)KX_GameObject::sPyDisableRigidBody,METH_NOARGS},
        {"applyImpulse", (PyCFunction) KX_GameObject::sPyApplyImpulse, METH_VARARGS},
        {"setCollisionMargin", (PyCFunction) KX_GameObject::sPySetCollisionMargin, METH_O},
        {"setParent", (PyCFunction)KX_GameObject::sPySetParent,METH_VARARGS},
        {"setVisible",(PyCFunction) KX_GameObject::sPySetVisible, METH_VARARGS},
        {"setOcclusion",(PyCFunction) KX_GameObject::sPySetOcclusion, METH_VARARGS},
        {"removeParent", (PyCFunction)KX_GameObject::sPyRemoveParent,METH_NOARGS},


        {"getPhysicsId", (PyCFunction)KX_GameObject::sPyGetPhysicsId,METH_NOARGS},
        {"getPropertyNames", (PyCFunction)KX_GameObject::sPyGetPropertyNames,METH_NOARGS},
        {"replaceMesh",(PyCFunction) KX_GameObject::sPyReplaceMesh, METH_VARARGS},
        {"endObject",(PyCFunction) KX_GameObject::sPyEndObject, METH_NOARGS},
        {"reinstancePhysicsMesh", (PyCFunction)KX_GameObject::sPyReinstancePhysicsMesh,METH_VARARGS},
        
        KX_PYMETHODTABLE(KX_GameObject, rayCastTo),
        KX_PYMETHODTABLE(KX_GameObject, rayCast),
        KX_PYMETHODTABLE_O(KX_GameObject, getDistanceTo),
        KX_PYMETHODTABLE_O(KX_GameObject, getVectTo),
        KX_PYMETHODTABLE(KX_GameObject, sendMessage),
        
        // dict style access for props
        {"get",(PyCFunction) KX_GameObject::sPyget, METH_VARARGS},
        
        {NULL,NULL} //Sentinel
};

PyAttributeDef KX_GameObject::Attributes[] = {
        KX_PYATTRIBUTE_RO_FUNCTION("name",              KX_GameObject, pyattr_get_name),
        KX_PYATTRIBUTE_RO_FUNCTION("parent",    KX_GameObject, pyattr_get_parent),
        KX_PYATTRIBUTE_RO_FUNCTION("life",              KX_GameObject, pyattr_get_life),
        KX_PYATTRIBUTE_RW_FUNCTION("mass",              KX_GameObject, pyattr_get_mass,         pyattr_set_mass),
        KX_PYATTRIBUTE_RW_FUNCTION("linVelocityMin",            KX_GameObject, pyattr_get_lin_vel_min, pyattr_set_lin_vel_min),
        KX_PYATTRIBUTE_RW_FUNCTION("linVelocityMax",            KX_GameObject, pyattr_get_lin_vel_max, pyattr_set_lin_vel_max),
        KX_PYATTRIBUTE_RW_FUNCTION("visible",   KX_GameObject, pyattr_get_visible,      pyattr_set_visible),
        KX_PYATTRIBUTE_BOOL_RW    ("occlusion", KX_GameObject, m_bOccluder),
        KX_PYATTRIBUTE_RW_FUNCTION("position",  KX_GameObject, pyattr_get_worldPosition,        pyattr_set_localPosition),
        KX_PYATTRIBUTE_RO_FUNCTION("localInertia",      KX_GameObject, pyattr_get_localInertia),
        KX_PYATTRIBUTE_RW_FUNCTION("orientation",KX_GameObject,pyattr_get_worldOrientation,pyattr_set_localOrientation),
        KX_PYATTRIBUTE_RW_FUNCTION("scaling",   KX_GameObject, pyattr_get_worldScaling, pyattr_set_localScaling),
        KX_PYATTRIBUTE_RW_FUNCTION("timeOffset",KX_GameObject, pyattr_get_timeOffset,pyattr_set_timeOffset),
        KX_PYATTRIBUTE_RW_FUNCTION("state",             KX_GameObject, pyattr_get_state,        pyattr_set_state),
        KX_PYATTRIBUTE_RO_FUNCTION("meshes",    KX_GameObject, pyattr_get_meshes),
        KX_PYATTRIBUTE_RW_FUNCTION("localOrientation",KX_GameObject,pyattr_get_localOrientation,pyattr_set_localOrientation),
        KX_PYATTRIBUTE_RW_FUNCTION("worldOrientation",KX_GameObject,pyattr_get_worldOrientation,pyattr_set_worldOrientation),
        KX_PYATTRIBUTE_RW_FUNCTION("localPosition",     KX_GameObject, pyattr_get_localPosition,        pyattr_set_localPosition),
        KX_PYATTRIBUTE_RW_FUNCTION("worldPosition",     KX_GameObject, pyattr_get_worldPosition,    pyattr_set_worldPosition),
        KX_PYATTRIBUTE_RW_FUNCTION("localScale",        KX_GameObject, pyattr_get_localScaling, pyattr_set_localScaling),
        KX_PYATTRIBUTE_RO_FUNCTION("worldScale",        KX_GameObject, pyattr_get_worldScaling),
        KX_PYATTRIBUTE_RW_FUNCTION("linearVelocity", KX_GameObject, pyattr_get_localLinearVelocity, pyattr_set_worldLinearVelocity),
        KX_PYATTRIBUTE_RW_FUNCTION("localLinearVelocity", KX_GameObject, pyattr_get_localLinearVelocity, pyattr_set_localLinearVelocity),
        KX_PYATTRIBUTE_RW_FUNCTION("worldLinearVelocity", KX_GameObject, pyattr_get_worldLinearVelocity, pyattr_set_worldLinearVelocity),
        KX_PYATTRIBUTE_RW_FUNCTION("angularVelocity", KX_GameObject, pyattr_get_localAngularVelocity, pyattr_set_worldAngularVelocity),
        KX_PYATTRIBUTE_RW_FUNCTION("localAngularVelocity", KX_GameObject, pyattr_get_localAngularVelocity, pyattr_set_localAngularVelocity),
        KX_PYATTRIBUTE_RW_FUNCTION("worldAngularVelocity", KX_GameObject, pyattr_get_worldAngularVelocity, pyattr_set_worldAngularVelocity),
        KX_PYATTRIBUTE_RO_FUNCTION("children",  KX_GameObject, pyattr_get_children),
        KX_PYATTRIBUTE_RO_FUNCTION("childrenRecursive", KX_GameObject, pyattr_get_children_recursive),
        KX_PYATTRIBUTE_RO_FUNCTION("attrDict",  KX_GameObject, pyattr_get_attrDict),
        KX_PYATTRIBUTE_RW_FUNCTION("color", KX_GameObject, pyattr_get_obcolor, pyattr_set_obcolor),
        
        /* Experemental, dont rely on these yet */
        KX_PYATTRIBUTE_RO_FUNCTION("sensors",           KX_GameObject, pyattr_get_sensors),
        KX_PYATTRIBUTE_RO_FUNCTION("controllers",       KX_GameObject, pyattr_get_controllers),
        KX_PYATTRIBUTE_RO_FUNCTION("actuators",         KX_GameObject, pyattr_get_actuators),
        {NULL} //Sentinel
};

PyObject* KX_GameObject::PyReplaceMesh(PyObject* args)
{
        KX_Scene *scene = KX_GetActiveScene();
        
        PyObject *value;
        int use_gfx= 1, use_phys= 0;
        RAS_MeshObject *new_mesh;
        
        if (!PyArg_ParseTuple(args,"O|ii:replaceMesh", &value, &use_gfx, &use_phys))
                return NULL;
        
        if (!ConvertPythonToMesh(value, &new_mesh, false, "gameOb.replaceMesh(value): KX_GameObject"))
                return NULL;
        
        scene->ReplaceMesh(this, new_mesh, (bool)use_gfx, (bool)use_phys);
        Py_RETURN_NONE;
}

PyObject* KX_GameObject::PyEndObject()
{
        KX_Scene *scene = KX_GetActiveScene();
        
        scene->DelayedRemoveObject(this);
        
        Py_RETURN_NONE;

}

PyObject* KX_GameObject::PyReinstancePhysicsMesh(PyObject* args)
{
        KX_GameObject *gameobj= NULL;
        RAS_MeshObject *mesh= NULL;
        
        PyObject *gameobj_py= NULL;
        PyObject *mesh_py= NULL;

        if (    !PyArg_ParseTuple(args,"|OO:reinstancePhysicsMesh",&gameobj_py, &mesh_py) ||
                        (gameobj_py && !ConvertPythonToGameObject(gameobj_py, &gameobj, true, "gameOb.reinstancePhysicsMesh(obj, mesh): KX_GameObject")) || 
                        (mesh_py && !ConvertPythonToMesh(mesh_py, &mesh, true, "gameOb.reinstancePhysicsMesh(obj, mesh): KX_GameObject"))
                ) {
                return NULL;
        }
#ifdef USE_BULLET
        /* gameobj and mesh can be NULL */
        if(KX_ReInstanceBulletShapeFromMesh(this, gameobj, mesh))
                Py_RETURN_TRUE;
#endif
        Py_RETURN_FALSE;
}

static PyObject *Map_GetItem(PyObject *self_v, PyObject *item)
{
        KX_GameObject* self= static_cast<KX_GameObject*>BGE_PROXY_REF(self_v);
        const char *attr_str= _PyUnicode_AsString(item);
        CValue* resultattr;
        PyObject* pyconvert;
        
        if (self==NULL) {
                PyErr_SetString(PyExc_SystemError, "val = gameOb[key]: KX_GameObject, "BGE_PROXY_ERROR_MSG);
                return NULL;
        }
        
        /* first see if the attributes a string and try get the cvalue attribute */
        if(attr_str && (resultattr=self->GetProperty(attr_str))) {
                pyconvert = resultattr->ConvertValueToPython();                 
                return pyconvert ? pyconvert:resultattr->GetProxy();
        }
        /* no CValue attribute, try get the python only m_attr_dict attribute */
        else if (self->m_attr_dict && (pyconvert=PyDict_GetItem(self->m_attr_dict, item))) {
                
                if (attr_str)
                        PyErr_Clear();
                Py_INCREF(pyconvert);
                return pyconvert;
        }
        else {
                if(attr_str)    PyErr_Format(PyExc_KeyError, "value = gameOb[key]: KX_GameObject, key \"%s\" does not exist", attr_str);
                else                    PyErr_SetString(PyExc_KeyError, "value = gameOb[key]: KX_GameObject, key does not exist");
                return NULL;
        }
                
}


static int Map_SetItem(PyObject *self_v, PyObject *key, PyObject *val)
{
        KX_GameObject* self= static_cast<KX_GameObject*>BGE_PROXY_REF(self_v);
        const char *attr_str= _PyUnicode_AsString(key);
        if(attr_str==NULL)
                PyErr_Clear();
        
        if (self==NULL) {
                PyErr_SetString(PyExc_SystemError, "gameOb[key] = value: KX_GameObject, "BGE_PROXY_ERROR_MSG);
                return -1;
        }
        
        if (val==NULL) { /* del ob["key"] */
                int del= 0;
                
                /* try remove both just incase */
                if(attr_str)
                        del |= (self->RemoveProperty(attr_str)==true) ? 1:0;
                
                if(self->m_attr_dict)
                        del |= (PyDict_DelItem(self->m_attr_dict, key)==0) ? 1:0;
                
                if (del==0) {
                        if(attr_str)    PyErr_Format(PyExc_KeyError, "gameOb[key] = value: KX_GameObject, key \"%s\" could not be set", attr_str);
                        else                    PyErr_SetString(PyExc_KeyError, "del gameOb[key]: KX_GameObject, key could not be deleted");
                        return -1;
                }
                else if (self->m_attr_dict) {
                        PyErr_Clear(); /* PyDict_DelItem sets an error when it fails */
                }
        }
        else { /* ob["key"] = value */
                int set= 0;
                
                /* as CValue */
                if(attr_str && PyObject_TypeCheck(val, &PyObjectPlus::Type)==0) /* dont allow GameObjects for eg to be assigned to CValue props */
                {
                        CValue* vallie = self->ConvertPythonToValue(val, ""); /* error unused */
                        
                        if(vallie)
                        {
                                CValue* oldprop = self->GetProperty(attr_str);
                                
                                if (oldprop)
                                        oldprop->SetValue(vallie);
                                else
                                        self->SetProperty(attr_str, vallie);
                                
                                vallie->Release();
                                set= 1;
                                
                                /* try remove dict value to avoid double ups */
                                if (self->m_attr_dict){
                                        if (PyDict_DelItem(self->m_attr_dict, key) != 0)
                                                PyErr_Clear();
                                }
                        }
                        else {
                                PyErr_Clear();
                        }
                }
                
                if(set==0)
                {
                        if (self->m_attr_dict==NULL) /* lazy init */
                                self->m_attr_dict= PyDict_New();
                        
                        
                        if(PyDict_SetItem(self->m_attr_dict, key, val)==0)
                        {
                                if(attr_str)
                                        self->RemoveProperty(attr_str); /* overwrite the CValue if it exists */
                                set= 1;
                        }
                        else {
                                if(attr_str)    PyErr_Format(PyExc_KeyError, "gameOb[key] = value: KX_GameObject, key \"%s\" not be added to internal dictionary", attr_str);
                                else                    PyErr_SetString(PyExc_KeyError, "gameOb[key] = value: KX_GameObject, key not be added to internal dictionary");
                        }
                }
                
                if(set==0)
                        return -1; /* pythons error value */
                
        }
        
        return 0; /* success */
}

static int Seq_Contains(PyObject *self_v, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>BGE_PROXY_REF(self_v);
        
        if (self==NULL) {
                PyErr_SetString(PyExc_SystemError, "val in gameOb: KX_GameObject, "BGE_PROXY_ERROR_MSG);
                return -1;
        }
        
        if(PyUnicode_Check(value) && self->GetProperty(_PyUnicode_AsString(value)))
                return 1;
        
        if (self->m_attr_dict && PyDict_GetItem(self->m_attr_dict, value))
                return 1;
        
        return 0;
}


PyMappingMethods KX_GameObject::Mapping = {
        (lenfunc)NULL                                   ,                       /*inquiry mp_length */
        (binaryfunc)Map_GetItem,                /*binaryfunc mp_subscript */
        (objobjargproc)Map_SetItem,     /*objobjargproc mp_ass_subscript */
};

PySequenceMethods KX_GameObject::Sequence = {
        NULL,           /* Cant set the len otherwise it can evaluate as false */
        NULL,           /* sq_concat */
        NULL,           /* sq_repeat */
        NULL,           /* sq_item */
        NULL,           /* sq_slice */
        NULL,           /* sq_ass_item */
        NULL,           /* sq_ass_slice */
        (objobjproc)Seq_Contains,       /* sq_contains */
        (binaryfunc) NULL, /* sq_inplace_concat */
        (ssizeargfunc) NULL, /* sq_inplace_repeat */
};

PyTypeObject KX_GameObject::Type = {
        PyVarObject_HEAD_INIT(NULL, 0)
        "KX_GameObject",
        sizeof(PyObjectPlus_Proxy),
        0,
        py_base_dealloc,
        0,
        0,
        0,
        0,
        py_base_repr,
        0,
        &Sequence,
        &Mapping,
        0,0,0,
        NULL,
        NULL,
        0,
        Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
        0,0,0,0,0,0,0,
        Methods,
        0,
        0,
        &SCA_IObject::Type,
        0,0,0,0,0,0,
        py_base_new
};

PyObject* KX_GameObject::pyattr_get_name(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return PyUnicode_FromString(self->GetName().ReadPtr());
}

PyObject* KX_GameObject::pyattr_get_parent(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        KX_GameObject* parent = self->GetParent();
        if (parent) {
                parent->Release(); /* self->GetParent() AddRef's */
                return parent->GetProxy();
        }
        Py_RETURN_NONE;
}

PyObject* KX_GameObject::pyattr_get_life(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);

        CValue *life = self->GetProperty("::timebomb");
        if (life)
                // this convert the timebomb seconds to frames, hard coded 50.0 (assuming 50fps)
                // value hardcoded in KX_Scene::AddReplicaObject()
                return PyFloat_FromDouble(life->GetNumber() * 50.0);
        else
                Py_RETURN_NONE;
}

PyObject* KX_GameObject::pyattr_get_mass(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        KX_IPhysicsController *spc = self->GetPhysicsController();
        return PyFloat_FromDouble(spc ? spc->GetMass() : 0.0f);
}

int KX_GameObject::pyattr_set_mass(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        KX_IPhysicsController *spc = self->GetPhysicsController();
        MT_Scalar val = PyFloat_AsDouble(value);
        if (val < 0.0f) { /* also accounts for non float */
                PyErr_SetString(PyExc_AttributeError, "gameOb.mass = float: KX_GameObject, expected a float zero or above");
                return PY_SET_ATTR_FAIL;
        }

        if (spc)
                spc->SetMass(val);

        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_GameObject::pyattr_get_lin_vel_min(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        KX_IPhysicsController *spc = self->GetPhysicsController();
        return PyFloat_FromDouble(spc ? spc->GetLinVelocityMax() : 0.0f);
}

int KX_GameObject::pyattr_set_lin_vel_min(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        KX_IPhysicsController *spc = self->GetPhysicsController();
        MT_Scalar val = PyFloat_AsDouble(value);
        if (val < 0.0f) { /* also accounts for non float */
                PyErr_SetString(PyExc_AttributeError, "gameOb.linVelocityMin = float: KX_GameObject, expected a float zero or above");
                return PY_SET_ATTR_FAIL;
        }

        if (spc)
                spc->SetLinVelocityMin(val);

        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_GameObject::pyattr_get_lin_vel_max(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        KX_IPhysicsController *spc = self->GetPhysicsController();
        return PyFloat_FromDouble(spc ? spc->GetLinVelocityMax() : 0.0f);
}

int KX_GameObject::pyattr_set_lin_vel_max(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        KX_IPhysicsController *spc = self->GetPhysicsController();
        MT_Scalar val = PyFloat_AsDouble(value);
        if (val < 0.0f) { /* also accounts for non float */
                PyErr_SetString(PyExc_AttributeError, "gameOb.linVelocityMax = float: KX_GameObject, expected a float zero or above");
                return PY_SET_ATTR_FAIL;
        }

        if (spc)
                spc->SetLinVelocityMax(val);

        return PY_SET_ATTR_SUCCESS;
}


PyObject* KX_GameObject::pyattr_get_visible(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return PyBool_FromLong(self->GetVisible());
}

int KX_GameObject::pyattr_set_visible(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        int param = PyObject_IsTrue( value );
        if (param == -1) {
                PyErr_SetString(PyExc_AttributeError, "gameOb.visible = bool: KX_GameObject, expected True or False");
                return PY_SET_ATTR_FAIL;
        }

        self->SetVisible(param, false);
        self->UpdateBuckets(false);
        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_GameObject::pyattr_get_worldPosition(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
#ifdef USE_MATHUTILS
        return newVectorObject_cb(BGE_PROXY_FROM_REF(self_v), 3, mathutils_kxgameob_vector_cb_index, MATHUTILS_VEC_CB_POS_GLOBAL);
#else
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return PyObjectFrom(self->NodeGetWorldPosition());
#endif
}

int KX_GameObject::pyattr_set_worldPosition(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        MT_Point3 pos;
        if (!PyVecTo(value, pos))
                return PY_SET_ATTR_FAIL;
        
        self->NodeSetWorldPosition(pos);
        self->NodeUpdateGS(0.f);
        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_GameObject::pyattr_get_localPosition(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
#ifdef USE_MATHUTILS    
        return newVectorObject_cb(BGE_PROXY_FROM_REF(self_v), 3, mathutils_kxgameob_vector_cb_index, MATHUTILS_VEC_CB_POS_LOCAL);
#else   
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return PyObjectFrom(self->NodeGetLocalPosition());
#endif
}

int KX_GameObject::pyattr_set_localPosition(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        MT_Point3 pos;
        if (!PyVecTo(value, pos))
                return PY_SET_ATTR_FAIL;
        
        self->NodeSetLocalPosition(pos);
        self->NodeUpdateGS(0.f);
        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_GameObject::pyattr_get_localInertia(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
#ifdef USE_MATHUTILS
        return newVectorObject_cb(BGE_PROXY_FROM_REF(self_v), 3, mathutils_kxgameob_vector_cb_index, MATHUTILS_VEC_CB_INERTIA_LOCAL);
#else
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        if (self->GetPhysicsController())
                return PyObjectFrom(self->GetPhysicsController()->GetLocalInertia());
        return Py_BuildValue("fff", 0.0f, 0.0f, 0.0f);
#endif
}

PyObject* KX_GameObject::pyattr_get_worldOrientation(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
#ifdef USE_MATHUTILS
        return newMatrixObject_cb(BGE_PROXY_FROM_REF(self_v), 3, 3, mathutils_kxgameob_matrix_cb_index, MATHUTILS_MAT_CB_ORI_GLOBAL);
#else
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return PyObjectFrom(self->NodeGetWorldOrientation());
#endif
}

int KX_GameObject::pyattr_set_worldOrientation(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        
        /* if value is not a sequence PyOrientationTo makes an error */
        MT_Matrix3x3 rot;
        if (!PyOrientationTo(value, rot, "gameOb.worldOrientation = sequence: KX_GameObject, "))
                return PY_SET_ATTR_FAIL;

        self->NodeSetGlobalOrientation(rot);
        
        self->NodeUpdateGS(0.f);
        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_GameObject::pyattr_get_localOrientation(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
#ifdef USE_MATHUTILS
        return newMatrixObject_cb(BGE_PROXY_FROM_REF(self_v), 3, 3, mathutils_kxgameob_matrix_cb_index, MATHUTILS_MAT_CB_ORI_LOCAL);
#else
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return PyObjectFrom(self->NodeGetLocalOrientation());
#endif
}

int KX_GameObject::pyattr_set_localOrientation(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        
        /* if value is not a sequence PyOrientationTo makes an error */
        MT_Matrix3x3 rot;
        if (!PyOrientationTo(value, rot, "gameOb.localOrientation = sequence: KX_GameObject, "))
                return PY_SET_ATTR_FAIL;

        self->NodeSetLocalOrientation(rot);
        self->NodeUpdateGS(0.f);
        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_GameObject::pyattr_get_worldScaling(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
#ifdef USE_MATHUTILS
        return newVectorObject_cb(BGE_PROXY_FROM_REF(self_v), 3, mathutils_kxgameob_vector_cb_index, MATHUTILS_VEC_CB_SCALE_GLOBAL);
#else
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return PyObjectFrom(self->NodeGetWorldScaling());
#endif
}

PyObject* KX_GameObject::pyattr_get_localScaling(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
#ifdef USE_MATHUTILS
        return newVectorObject_cb(BGE_PROXY_FROM_REF(self_v), 3, mathutils_kxgameob_vector_cb_index, MATHUTILS_VEC_CB_SCALE_LOCAL);
#else
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return PyObjectFrom(self->NodeGetLocalScaling());
#endif
}

int KX_GameObject::pyattr_set_localScaling(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        MT_Vector3 scale;
        if (!PyVecTo(value, scale))
                return PY_SET_ATTR_FAIL;

        self->NodeSetLocalScale(scale);
        self->NodeUpdateGS(0.f);
        return PY_SET_ATTR_SUCCESS;
}


PyObject* KX_GameObject::pyattr_get_worldLinearVelocity(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
#ifdef USE_MATHUTILS
        return newVectorObject_cb(BGE_PROXY_FROM_REF(self_v), 3, mathutils_kxgameob_vector_cb_index, MATHUTILS_VEC_CB_LINVEL_GLOBAL);
#else
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return PyObjectFrom(GetLinearVelocity(false));
#endif
}

int KX_GameObject::pyattr_set_worldLinearVelocity(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        MT_Vector3 velocity;
        if (!PyVecTo(value, velocity))
                return PY_SET_ATTR_FAIL;

        self->setLinearVelocity(velocity, false);

        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_GameObject::pyattr_get_localLinearVelocity(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
#ifdef USE_MATHUTILS
        return newVectorObject_cb(BGE_PROXY_FROM_REF(self_v), 3, mathutils_kxgameob_vector_cb_index, MATHUTILS_VEC_CB_LINVEL_LOCAL);
#else
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return PyObjectFrom(GetLinearVelocity(true));
#endif
}

int KX_GameObject::pyattr_set_localLinearVelocity(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        MT_Vector3 velocity;
        if (!PyVecTo(value, velocity))
                return PY_SET_ATTR_FAIL;

        self->setLinearVelocity(velocity, true);

        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_GameObject::pyattr_get_worldAngularVelocity(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
#ifdef USE_MATHUTILS
        return newVectorObject_cb(BGE_PROXY_FROM_REF(self_v), 3, mathutils_kxgameob_vector_cb_index, MATHUTILS_VEC_CB_ANGVEL_GLOBAL);
#else
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return PyObjectFrom(GetAngularVelocity(false));
#endif
}

int KX_GameObject::pyattr_set_worldAngularVelocity(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        MT_Vector3 velocity;
        if (!PyVecTo(value, velocity))
                return PY_SET_ATTR_FAIL;

        self->setAngularVelocity(velocity, false);

        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_GameObject::pyattr_get_localAngularVelocity(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
#ifdef USE_MATHUTILS
        return newVectorObject_cb(BGE_PROXY_FROM_REF(self_v), 3, mathutils_kxgameob_vector_cb_index, MATHUTILS_VEC_CB_ANGVEL_LOCAL);
#else
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return PyObjectFrom(GetAngularVelocity(true));
#endif
}

int KX_GameObject::pyattr_set_localAngularVelocity(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        MT_Vector3 velocity;
        if (!PyVecTo(value, velocity))
                return PY_SET_ATTR_FAIL;

        self->setAngularVelocity(velocity, true);

        return PY_SET_ATTR_SUCCESS;
}


PyObject* KX_GameObject::pyattr_get_timeOffset(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        SG_Node* sg_parent;
        if (self->GetSGNode() && (sg_parent = self->GetSGNode()->GetSGParent()) != NULL && sg_parent->IsSlowParent()) {
                return PyFloat_FromDouble(static_cast<KX_SlowParentRelation *>(sg_parent->GetParentRelation())->GetTimeOffset());
        } else {
                return PyFloat_FromDouble(0.0);
        }
}

int KX_GameObject::pyattr_set_timeOffset(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        if (self->GetSGNode()) {
                MT_Scalar val = PyFloat_AsDouble(value);
                SG_Node* sg_parent= self->GetSGNode()->GetSGParent();
                if (val < 0.0f) { /* also accounts for non float */
                        PyErr_SetString(PyExc_AttributeError, "gameOb.timeOffset = float: KX_GameObject, expected a float zero or above");
                        return PY_SET_ATTR_FAIL;
                }
                if (sg_parent && sg_parent->IsSlowParent())
                        static_cast<KX_SlowParentRelation *>(sg_parent->GetParentRelation())->SetTimeOffset(val);
        }
        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_GameObject::pyattr_get_state(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        int state = 0;
        state |= self->GetState();
        return PyLong_FromSsize_t(state);
}

int KX_GameObject::pyattr_set_state(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        int state_i = PyLong_AsSsize_t(value);
        unsigned int state = 0;
        
        if (state_i == -1 && PyErr_Occurred()) {
                PyErr_SetString(PyExc_TypeError, "gameOb.state = int: KX_GameObject, expected an int bit field");
                return PY_SET_ATTR_FAIL;
        }
        
        state |= state_i;
        if ((state & ((1<<30)-1)) == 0) {
                PyErr_SetString(PyExc_AttributeError, "gameOb.state = int: KX_GameObject, state bitfield was not between 0 and 30 (1<<0 and 1<<29)");
                return PY_SET_ATTR_FAIL;
        }
        self->SetState(state);
        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_GameObject::pyattr_get_meshes(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        PyObject *meshes= PyList_New(self->m_meshes.size());
        int i;
        
        for(i=0; i < (int)self->m_meshes.size(); i++)
        {
                KX_MeshProxy* meshproxy = new KX_MeshProxy(self->m_meshes[i]);
                PyList_SET_ITEM(meshes, i, meshproxy->NewProxy(true));
        }
        
        return meshes;
}

PyObject* KX_GameObject::pyattr_get_obcolor(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
#ifdef USE_MATHUTILS
        return newVectorObject_cb(BGE_PROXY_FROM_REF(self_v), 4, mathutils_kxgameob_vector_cb_index, MATHUTILS_VEC_CB_OBJECT_COLOR);
#else
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return PyObjectFrom(self->GetObjectColor());
#endif
}

int KX_GameObject::pyattr_set_obcolor(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        MT_Vector4 obcolor;
        if (!PyVecTo(value, obcolor))
                return PY_SET_ATTR_FAIL;

        self->SetObjectColor(obcolor);
        return PY_SET_ATTR_SUCCESS;
}

/* These are experimental! */
PyObject* KX_GameObject::pyattr_get_sensors(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        return KX_PythonSeq_CreatePyObject((static_cast<KX_GameObject*>(self_v))->m_proxy, KX_PYGENSEQ_OB_TYPE_SENSORS);
}

PyObject* KX_GameObject::pyattr_get_controllers(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        return KX_PythonSeq_CreatePyObject((static_cast<KX_GameObject*>(self_v))->m_proxy, KX_PYGENSEQ_OB_TYPE_CONTROLLERS);
}

PyObject* KX_GameObject::pyattr_get_actuators(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        return KX_PythonSeq_CreatePyObject((static_cast<KX_GameObject*>(self_v))->m_proxy, KX_PYGENSEQ_OB_TYPE_ACTUATORS);
}
/* End experimental */

PyObject* KX_GameObject::pyattr_get_children(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return self->GetChildren()->NewProxy(true);
}

PyObject* KX_GameObject::pyattr_get_children_recursive(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        return self->GetChildrenRecursive()->NewProxy(true);
}

PyObject* KX_GameObject::pyattr_get_attrDict(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
        
        if(self->m_attr_dict==NULL)
                self->m_attr_dict= PyDict_New();
        
        Py_INCREF(self->m_attr_dict);
        return self->m_attr_dict;
}

PyObject* KX_GameObject::PyApplyForce(PyObject* args)
{
        int local = 0;
        PyObject* pyvect;

        if (PyArg_ParseTuple(args, "O|i:applyForce", &pyvect, &local)) {
                MT_Vector3 force;
                if (PyVecTo(pyvect, force)) {
                        ApplyForce(force, (local!=0));
                        Py_RETURN_NONE;
                }
        }
        return NULL;
}

PyObject* KX_GameObject::PyApplyTorque(PyObject* args)
{
        int local = 0;
        PyObject* pyvect;

        if (PyArg_ParseTuple(args, "O|i:applyTorque", &pyvect, &local)) {
                MT_Vector3 torque;
                if (PyVecTo(pyvect, torque)) {
                        ApplyTorque(torque, (local!=0));
                        Py_RETURN_NONE;
                }
        }
        return NULL;
}

PyObject* KX_GameObject::PyApplyRotation(PyObject* args)
{
        int local = 0;
        PyObject* pyvect;

        if (PyArg_ParseTuple(args, "O|i:applyRotation", &pyvect, &local)) {
                MT_Vector3 rotation;
                if (PyVecTo(pyvect, rotation)) {
                        ApplyRotation(rotation, (local!=0));
                        Py_RETURN_NONE;
                }
        }
        return NULL;
}

PyObject* KX_GameObject::PyApplyMovement(PyObject* args)
{
        int local = 0;
        PyObject* pyvect;

        if (PyArg_ParseTuple(args, "O|i:applyMovement", &pyvect, &local)) {
                MT_Vector3 movement;
                if (PyVecTo(pyvect, movement)) {
                        ApplyMovement(movement, (local!=0));
                        Py_RETURN_NONE;
                }
        }
        return NULL;
}

PyObject* KX_GameObject::PyGetLinearVelocity(PyObject* args)
{
        // only can get the velocity if we have a physics object connected to us...
        int local = 0;
        if (PyArg_ParseTuple(args,"|i:getLinearVelocity",&local))
        {
                return PyObjectFrom(GetLinearVelocity((local!=0)));
        }
        else
        {
                return NULL;
        }
}

PyObject* KX_GameObject::PySetLinearVelocity(PyObject* args)
{
        int local = 0;
        PyObject* pyvect;
        
        if (PyArg_ParseTuple(args,"O|i:setLinearVelocity",&pyvect,&local)) {
                MT_Vector3 velocity;
                if (PyVecTo(pyvect, velocity)) {
                        setLinearVelocity(velocity, (local!=0));
                        Py_RETURN_NONE;
                }
        }
        return NULL;
}

PyObject* KX_GameObject::PyGetAngularVelocity(PyObject* args)
{
        // only can get the velocity if we have a physics object connected to us...
        int local = 0;
        if (PyArg_ParseTuple(args,"|i:getAngularVelocity",&local))
        {
                return PyObjectFrom(GetAngularVelocity((local!=0)));
        }
        else
        {
                return NULL;
        }
}

PyObject* KX_GameObject::PySetAngularVelocity(PyObject* args)
{
        int local = 0;
        PyObject* pyvect;
        
        if (PyArg_ParseTuple(args,"O|i:setAngularVelocity",&pyvect,&local)) {
                MT_Vector3 velocity;
                if (PyVecTo(pyvect, velocity)) {
                        setAngularVelocity(velocity, (local!=0));
                        Py_RETURN_NONE;
                }
        }
        return NULL;
}

PyObject* KX_GameObject::PySetVisible(PyObject* args)
{
        int visible, recursive = 0;
        if (!PyArg_ParseTuple(args,"i|i:setVisible",&visible, &recursive))
                return NULL;
        
        SetVisible(visible ? true:false, recursive ? true:false);
        UpdateBuckets(recursive ? true:false);
        Py_RETURN_NONE;
        
}

PyObject* KX_GameObject::PySetOcclusion(PyObject* args)
{
        int occlusion, recursive = 0;
        if (!PyArg_ParseTuple(args,"i|i:setOcclusion",&occlusion, &recursive))
                return NULL;
        
        SetOccluder(occlusion ? true:false, recursive ? true:false);
        Py_RETURN_NONE;
}

PyObject* KX_GameObject::PyGetVelocity(PyObject* args)
{
        // only can get the velocity if we have a physics object connected to us...
        MT_Point3 point(0.0,0.0,0.0);
        PyObject* pypos = NULL;
        
        if (!PyArg_ParseTuple(args, "|O:getVelocity", &pypos) || (pypos && !PyVecTo(pypos, point)))
                return NULL;
        
        if (m_pPhysicsController1)
        {
                return PyObjectFrom(m_pPhysicsController1->GetVelocity(point));
        }
        else {
                return PyObjectFrom(MT_Vector3(0.0,0.0,0.0));
        }
}

PyObject* KX_GameObject::PyGetReactionForce()
{
        // only can get the velocity if we have a physics object connected to us...
        
        // XXX - Currently not working with bullet intergration, see KX_BulletPhysicsController.cpp's getReactionForce
        /*
        if (GetPhysicsController())
                return PyObjectFrom(GetPhysicsController()->getReactionForce());
        return PyObjectFrom(dummy_point);
        */
        
        return Py_BuildValue("fff", 0.0f, 0.0f, 0.0f);
        
}



PyObject* KX_GameObject::PyEnableRigidBody()
{
        if(GetPhysicsController())
                GetPhysicsController()->setRigidBody(true);

        Py_RETURN_NONE;
}



PyObject* KX_GameObject::PyDisableRigidBody()
{
        if(GetPhysicsController())
                GetPhysicsController()->setRigidBody(false);

        Py_RETURN_NONE;
}


PyObject* KX_GameObject::PySetParent(PyObject* args)
{
        KX_Scene *scene = KX_GetActiveScene();
        PyObject* pyobj;
        KX_GameObject *obj;
        int addToCompound=1, ghost=1;
        
        if (!PyArg_ParseTuple(args,"O|ii:setParent", &pyobj, &addToCompound, &ghost)) {
                return NULL; // Python sets a simple error
        }
        if (!ConvertPythonToGameObject(pyobj, &obj, true, "gameOb.setParent(obj): KX_GameObject"))
                return NULL;
        if (obj)
                this->SetParent(scene, obj, addToCompound, ghost);
        Py_RETURN_NONE;
}

PyObject* KX_GameObject::PyRemoveParent()
{
        KX_Scene *scene = KX_GetActiveScene();
        
        this->RemoveParent(scene);
        Py_RETURN_NONE;
}


PyObject* KX_GameObject::PySetCollisionMargin(PyObject* value)
{
        float collisionMargin = PyFloat_AsDouble(value);
        
        if (collisionMargin==-1 && PyErr_Occurred()) {
                PyErr_SetString(PyExc_TypeError, "expected a float");
                return NULL;
        }
        
        if (m_pPhysicsController1)
        {
                m_pPhysicsController1->setMargin(collisionMargin);
                Py_RETURN_NONE;
        }
        PyErr_SetString(PyExc_RuntimeError, "This object has no physics controller");
        return NULL;
}



PyObject* KX_GameObject::PyApplyImpulse(PyObject* args)
{
        PyObject* pyattach;
        PyObject* pyimpulse;
        
        if (!m_pPhysicsController1)     {
                PyErr_SetString(PyExc_RuntimeError, "This object has no physics controller");
                return NULL;
        }
        
        if (PyArg_ParseTuple(args, "OO:applyImpulse", &pyattach, &pyimpulse))
        {
                MT_Point3  attach;
                MT_Vector3 impulse;
                if (PyVecTo(pyattach, attach) && PyVecTo(pyimpulse, impulse))
                {
                        m_pPhysicsController1->applyImpulse(attach, impulse);
                        Py_RETURN_NONE;
                }

        }
        
        return NULL;
}



PyObject* KX_GameObject::PySuspendDynamics()
{
        SuspendDynamics();
        Py_RETURN_NONE;
}



PyObject* KX_GameObject::PyRestoreDynamics()
{
        RestoreDynamics();
        Py_RETURN_NONE;
}


PyObject* KX_GameObject::PyAlignAxisToVect(PyObject* args)
{
        PyObject* pyvect;
        int axis = 2; //z axis is the default
        float fac = 1.0;
        
        if (PyArg_ParseTuple(args,"O|if:alignAxisToVect",&pyvect,&axis, &fac))
        {
                MT_Vector3 vect;
                if (PyVecTo(pyvect, vect))
                {
                        if (fac<=0.0) Py_RETURN_NONE; // Nothing to do.
                        if (fac> 1.0) fac= 1.0;
                        
                        AlignAxisToVect(vect,axis,fac);
                        NodeUpdateGS(0.f);
                        Py_RETURN_NONE;
                }
        }
        return NULL;
}

PyObject* KX_GameObject::PyGetAxisVect(PyObject* value)
{
        MT_Vector3 vect;
        if (PyVecTo(value, vect))
        {
                return PyObjectFrom(NodeGetWorldOrientation() * vect);
        }
        return NULL;
}


PyObject* KX_GameObject::PyGetPhysicsId()
{
        KX_IPhysicsController* ctrl = GetPhysicsController();
        uint_ptr physid=0;
        if (ctrl)
        {
                physid= (uint_ptr)ctrl->GetUserData();
        }
        return PyLong_FromSsize_t((long)physid);
}

PyObject* KX_GameObject::PyGetPropertyNames()
{
        PyObject *list=  ConvertKeysToPython();
        
        if(m_attr_dict) {
                PyObject *key, *value;
                Py_ssize_t pos = 0;

                while (PyDict_Next(m_attr_dict, &pos, &key, &value)) {
                        PyList_Append(list, key);
                }
        }
        return list;
}

KX_PYMETHODDEF_DOC_O(KX_GameObject, getDistanceTo,
"getDistanceTo(other): get distance to another point/KX_GameObject")
{
        MT_Point3 b;
        if (PyVecTo(value, b))
        {
                return PyFloat_FromDouble(NodeGetWorldPosition().distance(b));
        }
        PyErr_Clear();
        
        KX_GameObject *other;
        if (ConvertPythonToGameObject(value, &other, false, "gameOb.getDistanceTo(value): KX_GameObject"))
        {
                return PyFloat_FromDouble(NodeGetWorldPosition().distance(other->NodeGetWorldPosition()));
        }
        
        return NULL;
}

KX_PYMETHODDEF_DOC_O(KX_GameObject, getVectTo,
"getVectTo(other): get vector and the distance to another point/KX_GameObject\n"
"Returns a 3-tuple with (distance,worldVector,localVector)\n")
{
        MT_Point3 toPoint, fromPoint;
        MT_Vector3 toDir, locToDir;
        MT_Scalar distance;

        PyObject *returnValue;

        if (!PyVecTo(value, toPoint))
        {
                PyErr_Clear();
                
                KX_GameObject *other;
                if (ConvertPythonToGameObject(value, &other, false, "")) /* error will be overwritten */
                {
                        toPoint = other->NodeGetWorldPosition();
                } else
                {
                        PyErr_SetString(PyExc_TypeError, "gameOb.getVectTo(other): KX_GameObject, expected a 3D Vector or KX_GameObject type");
                        return NULL;
                }
        }

        fromPoint = NodeGetWorldPosition();
        toDir = toPoint-fromPoint;
        distance = toDir.length();

        if (MT_fuzzyZero(distance))
        {
                //cout << "getVectTo() Error: Null vector!\n";
                locToDir = toDir = MT_Vector3(0.0,0.0,0.0);
                distance = 0.0;
        } else {
                toDir.normalize();
                locToDir = toDir * NodeGetWorldOrientation();
        }
        
        returnValue = PyTuple_New(3);
        if (returnValue) { // very unlikely to fail, python sets a memory error here.
                PyTuple_SET_ITEM(returnValue, 0, PyFloat_FromDouble(distance));
                PyTuple_SET_ITEM(returnValue, 1, PyObjectFrom(toDir));
                PyTuple_SET_ITEM(returnValue, 2, PyObjectFrom(locToDir));
        }
        return returnValue;
}

bool KX_GameObject::RayHit(KX_ClientObjectInfo* client, KX_RayCast* result, void * const data)
{
        KX_GameObject* hitKXObj = client->m_gameobject;
        
        // if X-ray option is selected, the unwnted objects were not tested, so get here only with true hit
        // if not, all objects were tested and the front one may not be the correct one.
        if (m_xray || m_testPropName.Length() == 0 || hitKXObj->GetProperty(m_testPropName) != NULL)
        {
                m_pHitObject = hitKXObj;
                return true;
        }
        // return true to stop RayCast::RayTest from looping, the above test was decisive
        // We would want to loop only if we want to get more than one hit point
        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_GameObject::NeedRayCast(KX_ClientObjectInfo* client)
{
        KX_GameObject* hitKXObj = client->m_gameobject;
        
        if (client->m_type > KX_ClientObjectInfo::ACTOR)
        {
                // Unknown type of object, skip it.
                // Should not occur as the sensor objects are filtered in RayTest()
                printf("Invalid client type %d found in ray casting\n", client->m_type);
                return false;
        }
        
        // if X-Ray option is selected, skip object that don't match the criteria as we see through them
        // if not, test all objects because we don't know yet which one will be on front
        if (!m_xray || m_testPropName.Length() == 0 || hitKXObj->GetProperty(m_testPropName) != NULL)
        {
                return true;
        }
        // skip the object
        return false;
}

KX_PYMETHODDEF_DOC(KX_GameObject, rayCastTo,
"rayCastTo(other,dist,prop): look towards another point/KX_GameObject and return first object hit within dist that matches prop\n"
" prop = property name that object must have; can be omitted => detect any object\n"
" dist = max distance to look (can be negative => look behind); 0 or omitted => detect up to other\n"
" other = 3-tuple or object reference")
{
        MT_Point3 toPoint;
        PyObject* pyarg;
        float dist = 0.0f;
        char *propName = NULL;

        if (!PyArg_ParseTuple(args,"O|fs:rayCastTo", &pyarg, &dist, &propName)) {
                return NULL; // python sets simple error
        }

        if (!PyVecTo(pyarg, toPoint))
        {
                KX_GameObject *other;
                PyErr_Clear();
                
                if (ConvertPythonToGameObject(pyarg, &other, false, "")) /* error will be overwritten */
                {
                        toPoint = other->NodeGetWorldPosition();
                } else
                {
                        PyErr_SetString(PyExc_TypeError, "gameOb.rayCastTo(other,dist,prop): KX_GameObject, the first argument to rayCastTo must be a vector or a KX_GameObject");
                        return NULL;
                }
        }
        MT_Point3 fromPoint = NodeGetWorldPosition();
        
        if (dist != 0.0f)
                toPoint = fromPoint + dist * (toPoint-fromPoint).safe_normalized();
        
        PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment();
        KX_IPhysicsController *spc = GetPhysicsController();
        KX_GameObject *parent = GetParent();
        if (!spc && parent)
                spc = parent->GetPhysicsController();
        if (parent)
                parent->Release();
        
        m_pHitObject = NULL;
        if (propName)
                m_testPropName = propName;
        else
                m_testPropName.SetLength(0);
        KX_RayCast::Callback<KX_GameObject> callback(this,spc);
        KX_RayCast::RayTest(pe, fromPoint, toPoint, callback);

        if (m_pHitObject)
                return m_pHitObject->GetProxy();
        
        Py_RETURN_NONE;
}

/* faster then Py_BuildValue since some scripts call raycast a lot */
static PyObject *none_tuple_3()
{
        PyObject *ret= PyTuple_New(3);
        PyTuple_SET_ITEM(ret, 0, Py_None);
        PyTuple_SET_ITEM(ret, 1, Py_None);
        PyTuple_SET_ITEM(ret, 2, Py_None);
        
        Py_INCREF(Py_None);
        Py_INCREF(Py_None);
        Py_INCREF(Py_None);
        return ret;
}
static PyObject *none_tuple_4()
{
        PyObject *ret= PyTuple_New(4);
        PyTuple_SET_ITEM(ret, 0, Py_None);
        PyTuple_SET_ITEM(ret, 1, Py_None);
        PyTuple_SET_ITEM(ret, 2, Py_None);
        PyTuple_SET_ITEM(ret, 3, Py_None);
        
        Py_INCREF(Py_None);
        Py_INCREF(Py_None);
        Py_INCREF(Py_None);
        Py_INCREF(Py_None);
        return ret;
}

static PyObject *none_tuple_5()
{
        PyObject *ret= PyTuple_New(5);
        PyTuple_SET_ITEM(ret, 0, Py_None);
        PyTuple_SET_ITEM(ret, 1, Py_None);
        PyTuple_SET_ITEM(ret, 2, Py_None);
        PyTuple_SET_ITEM(ret, 3, Py_None);
        PyTuple_SET_ITEM(ret, 4, Py_None);
        
        Py_INCREF(Py_None);
        Py_INCREF(Py_None);
        Py_INCREF(Py_None);
        Py_INCREF(Py_None);
        Py_INCREF(Py_None);
        return ret;
}

KX_PYMETHODDEF_DOC(KX_GameObject, rayCast,
                                   "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) or 4-tuple (object,hit,normal,polygon,hituv) of contact point with object within dist that matches prop.\n"
                                   " If no hit, return (None,None,None) or (None,None,None,None) or (None,None,None,None,None).\n"
" to   = 3-tuple or object reference for destination of ray (if object, use center of object)\n"
" from = 3-tuple or object reference for origin of ray (if object, use center of object)\n"
"        Can be None or omitted => start from self object center\n"
" dist = max distance to look (can be negative => look behind); 0 or omitted => detect up to to\n"
" prop = property name that object must have; can be omitted => detect any object\n"
" face = normal option: 1=>return face normal; 0 or omitted => normal is oriented towards origin\n"
" xray = X-ray option: 1=>skip objects that don't match prop; 0 or omitted => stop on first object\n"
" poly = polygon option: 1=>return value is a 4-tuple and the 4th element is a KX_PolyProxy object\n"
"                           which can be None if hit object has no mesh or if there is no hit\n"
"                        2=>return value is a 5-tuple, the 4th element is the KX_PolyProxy object\n"
"                           and the 5th element is the vector of UV coordinates at the hit point of the None if there is no UV mapping\n"
"        If 0 or omitted, return value is a 3-tuple\n"
"Note: The object on which you call this method matters: the ray will ignore it.\n"
"      prop and xray option interact as follow:\n"
"        prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray\n"
"        prop off, xray on : idem\n"
"        prop on,  xray off: return closest hit if it matches prop, no hit otherwise\n"
"        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")
{
        MT_Point3 toPoint;
        MT_Point3 fromPoint;
        PyObject* pyto;
        PyObject* pyfrom = NULL;
        float dist = 0.0f;
        char *propName = NULL;
        KX_GameObject *other;
        int face=0, xray=0, poly=0;

        if (!PyArg_ParseTuple(args,"O|Ofsiii:rayCast", &pyto, &pyfrom, &dist, &propName, &face, &xray, &poly)) {
                return NULL; // Python sets a simple error
        }

        if (!PyVecTo(pyto, toPoint))
        {
                PyErr_Clear();
                
                if (ConvertPythonToGameObject(pyto, &other, false, ""))  /* error will be overwritten */
                {
                        toPoint = other->NodeGetWorldPosition();
                } else
                {
                        PyErr_SetString(PyExc_TypeError, "the first argument to rayCast must be a vector or a KX_GameObject");
                        return NULL;
                }
        }
        if (!pyfrom || pyfrom == Py_None)
        {
                fromPoint = NodeGetWorldPosition();
        }
        else if (!PyVecTo(pyfrom, fromPoint))
        {
                PyErr_Clear();
                
                if (ConvertPythonToGameObject(pyfrom, &other, false, "")) /* error will be overwritten */
                {
                        fromPoint = other->NodeGetWorldPosition();
                } else
                {
                        PyErr_SetString(PyExc_TypeError, "gameOb.rayCast(to,from,dist,prop,face,xray,poly): KX_GameObject, the second optional argument to rayCast must be a vector or a KX_GameObject");
                        return NULL;
                }
        }
        
        if (dist != 0.0f) {
                MT_Vector3 toDir = toPoint-fromPoint;
                if (MT_fuzzyZero(toDir.length2())) {
                        //return Py_BuildValue("OOO", Py_None, Py_None, Py_None);
                        return none_tuple_3();
                }
                toDir.normalize();
                toPoint = fromPoint + (dist) * toDir;
        } else if (MT_fuzzyZero((toPoint-fromPoint).length2())) {
                //return Py_BuildValue("OOO", Py_None, Py_None, Py_None);
                return none_tuple_3();
        }
        
        PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment();
        KX_IPhysicsController *spc = GetPhysicsController();
        KX_GameObject *parent = GetParent();
        if (!spc && parent)
                spc = parent->GetPhysicsController();
        if (parent)
                parent->Release();
        
        m_pHitObject = NULL;
        if (propName)
                m_testPropName = propName;
        else
                m_testPropName.SetLength(0);
        m_xray = xray;
        // to get the hit results
        KX_RayCast::Callback<KX_GameObject> callback(this,spc,NULL,face,(poly==2));
        KX_RayCast::RayTest(pe, fromPoint, toPoint, callback);

        if (m_pHitObject)
        {
                PyObject* returnValue = (poly==2) ? PyTuple_New(5) : (poly) ? PyTuple_New(4) : PyTuple_New(3);
                if (returnValue) { // unlikely this would ever fail, if it does python sets an error
                        PyTuple_SET_ITEM(returnValue, 0, m_pHitObject->GetProxy());
                        PyTuple_SET_ITEM(returnValue, 1, PyObjectFrom(callback.m_hitPoint));
                        PyTuple_SET_ITEM(returnValue, 2, PyObjectFrom(callback.m_hitNormal));
                        if (poly)
                        {
                                if (callback.m_hitMesh)
                                {
                                        // if this field is set, then we can trust that m_hitPolygon is a valid polygon
                                        RAS_Polygon* polygon = callback.m_hitMesh->GetPolygon(callback.m_hitPolygon);
                                        KX_PolyProxy* polyproxy = new KX_PolyProxy(callback.m_hitMesh, polygon);
                                        PyTuple_SET_ITEM(returnValue, 3, polyproxy->NewProxy(true));
                                        if (poly == 2)
                                        {
                                                if (callback.m_hitUVOK)
                                                        PyTuple_SET_ITEM(returnValue, 4, PyObjectFrom(callback.m_hitUV));
                                                else {
                                                        Py_INCREF(Py_None);
                                                        PyTuple_SET_ITEM(returnValue, 4, Py_None);
                                                }
                                        }
                                }
                                else
                                {
                                        Py_INCREF(Py_None);
                                        PyTuple_SET_ITEM(returnValue, 3, Py_None);
                                        if (poly==2)
                                        {
                                                Py_INCREF(Py_None);
                                                PyTuple_SET_ITEM(returnValue, 4, Py_None);
                                        }
                                }
                        }
                }
                return returnValue;
        }
        // no hit
        if (poly == 2)
                return none_tuple_5();
        else if (poly)
                return none_tuple_4();
        else
                return none_tuple_3();
}

KX_PYMETHODDEF_DOC_VARARGS(KX_GameObject, sendMessage, 
                                                   "sendMessage(subject, [body, to])\n"
"sends a message in same manner as a message actuator"
"subject = Subject of the message (string)"
"body = Message body (string)"
"to = Name of object to send the message to")
{
        KX_Scene *scene = KX_GetActiveScene();
        char* subject;
        char* body = (char *)"";
        char* to = (char *)"";
        const STR_String& from = GetName();

        if (!PyArg_ParseTuple(args, "s|ss:sendMessage", &subject, &body, &to))
                return NULL;
        
        scene->GetNetworkScene()->SendMessage(to, from, subject, body);
        Py_RETURN_NONE;
}

/* dict style access */


/* Matches python dict.get(key, [default]) */
PyObject* KX_GameObject::Pyget(PyObject *args)
{
        PyObject *key;
        PyObject* def = Py_None;
        PyObject* ret;

        if (!PyArg_ParseTuple(args, "O|O:get", &key, &def))
                return NULL;
        
        
        if(PyUnicode_Check(key)) {
                CValue *item = GetProperty(_PyUnicode_AsString(key));
                if (item) {
                        ret = item->ConvertValueToPython();
                        if(ret)
                                return ret;
                        else
                                return item->GetProxy();
                }
        }
        
        if (m_attr_dict && (ret=PyDict_GetItem(m_attr_dict, key))) {
                Py_INCREF(ret);
                return ret;
        }
        
        Py_INCREF(def);
        return def;
}

bool ConvertPythonToGameObject(PyObject * value, KX_GameObject **object, bool py_none_ok, const char *error_prefix)
{
        if (value==NULL) {
                PyErr_Format(PyExc_TypeError, "%s, python pointer NULL, should never happen", error_prefix);
                *object = NULL;
                return false;
        }
                
        if (value==Py_None) {
                *object = NULL;
                
                if (py_none_ok) {
                        return true;
                } else {
                        PyErr_Format(PyExc_TypeError, "%s, expected KX_GameObject or a KX_GameObject name, None is invalid", error_prefix);
                        return false;
                }
        }
        
        if (PyUnicode_Check(value)) {
                *object = (KX_GameObject*)SCA_ILogicBrick::m_sCurrentLogicManager->GetGameObjectByName(STR_String( _PyUnicode_AsString(value) ));
                
                if (*object) {
                        return true;
                } else {
                        PyErr_Format(PyExc_ValueError, "%s, requested name \"%s\" did not match any KX_GameObject in this scene", error_prefix, _PyUnicode_AsString(value));
                        return false;
                }
        }
        
        if (    PyObject_TypeCheck(value, &KX_GameObject::Type) ||
                        PyObject_TypeCheck(value, &KX_LightObject::Type)        ||
                        PyObject_TypeCheck(value, &KX_Camera::Type)                     ||
                        PyObject_TypeCheck(value, &KX_FontObject::Type))
        {
                *object = static_cast<KX_GameObject*>BGE_PROXY_REF(value);
                
                /* sets the error */
                if (*object==NULL) {
                        PyErr_Format(PyExc_SystemError, "%s, " BGE_PROXY_ERROR_MSG, error_prefix);
                        return false;
                }
                
                return true;
        }
        
        *object = NULL;
        
        if (py_none_ok) {
                PyErr_Format(PyExc_TypeError, "%s, expect a KX_GameObject, a string or None", error_prefix);
        } else {
                PyErr_Format(PyExc_TypeError, "%s, expect a KX_GameObject or a string", error_prefix);
        }
        
        return false;
}
#endif // WITH_PYTHON