KX_Camera.cpp

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/*
 * $Id: KX_Camera.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 *****
 * Camera in the gameengine. Cameras are also used for views.
 */

#include "GL/glew.h"
#include "KX_Camera.h"
#include "KX_Scene.h"
#include "KX_PythonInit.h"
#include "KX_Python.h"
#include "KX_PyMath.h"
KX_Camera::KX_Camera(void* sgReplicationInfo,
                                         SG_Callbacks callbacks,
                                         const RAS_CameraData& camdata,
                                         bool frustum_culling,
                                         bool delete_node)
                                        :
                                        KX_GameObject(sgReplicationInfo,callbacks),
                                        m_camdata(camdata),
                                        m_dirty(true),
                                        m_normalized(false),
                                        m_frustum_culling(frustum_culling),
                                        m_set_projection_matrix(false),
                                        m_set_frustum_center(false),
                                        m_delete_node(delete_node)
{
        // setting a name would be nice...
        m_name = "cam";
        m_projection_matrix.setIdentity();
        m_modelview_matrix.setIdentity();
}


KX_Camera::~KX_Camera()
{
        if (m_delete_node && m_pSGNode)
        {
                // for shadow camera, avoids memleak
                delete m_pSGNode;
                m_pSGNode = NULL;
        }
}       


CValue* KX_Camera::GetReplica()
{
        KX_Camera* replica = new KX_Camera(*this);
        
        // this will copy properties and so on...
        replica->ProcessReplica();
        
        return replica;
}

void KX_Camera::ProcessReplica()
{
        KX_GameObject::ProcessReplica();
        // replicated camera are always registered in the scene
        m_delete_node = false;
}

MT_Transform KX_Camera::GetWorldToCamera() const
{ 
        MT_Transform camtrans;
        camtrans.invert(MT_Transform(NodeGetWorldPosition(), NodeGetWorldOrientation()));
        
        return camtrans;
}


         
MT_Transform KX_Camera::GetCameraToWorld() const
{
        return MT_Transform(NodeGetWorldPosition(), NodeGetWorldOrientation());
}



void KX_Camera::CorrectLookUp(MT_Scalar speed)
{
}



const MT_Point3 KX_Camera::GetCameraLocation() const
{
        /* this is the camera locatio in cam coords... */
        //return m_trans1.getOrigin();
        //return MT_Point3(0,0,0);   <-----
        /* .... I want it in world coords */
        //MT_Transform trans;
        //trans.setBasis(NodeGetWorldOrientation());
        
        return NodeGetWorldPosition();          
}



/* I want the camera orientation as well. */
const MT_Quaternion KX_Camera::GetCameraOrientation() const
{
        return NodeGetWorldOrientation().getRotation();
}



void KX_Camera::SetProjectionMatrix(const MT_Matrix4x4 & mat)
{
        m_projection_matrix = mat;
        m_dirty = true;
        m_set_projection_matrix = true;
        m_set_frustum_center = false;
}



void KX_Camera::SetModelviewMatrix(const MT_Matrix4x4 & mat)
{
        m_modelview_matrix = mat;
        m_dirty = true;
        m_set_frustum_center = false;
}



const MT_Matrix4x4& KX_Camera::GetProjectionMatrix() const
{
        return m_projection_matrix;
}



const MT_Matrix4x4& KX_Camera::GetModelviewMatrix() const
{
        return m_modelview_matrix;
}


bool KX_Camera::hasValidProjectionMatrix() const
{
        return m_set_projection_matrix;
}

void KX_Camera::InvalidateProjectionMatrix(bool valid)
{
        m_set_projection_matrix = valid;
}


/*
* These getters retrieve the clip data and the focal length
*/
float KX_Camera::GetLens() const
{
        return m_camdata.m_lens;
}

float KX_Camera::GetScale() const
{
        return m_camdata.m_scale;
}



float KX_Camera::GetCameraNear() const
{
        return m_camdata.m_clipstart;
}



float KX_Camera::GetCameraFar() const
{
        return m_camdata.m_clipend;
}

float KX_Camera::GetFocalLength() const
{
        return m_camdata.m_focallength;
}



RAS_CameraData* KX_Camera::GetCameraData()
{
        return &m_camdata; 
}

void KX_Camera::ExtractClipPlanes()
{
        if (!m_dirty)
                return;

        MT_Matrix4x4 m = m_projection_matrix * m_modelview_matrix;
        // Left clip plane
        m_planes[0] = m[3] + m[0];
        // Right clip plane
        m_planes[1] = m[3] - m[0];
        // Top clip plane
        m_planes[2] = m[3] - m[1];
        // Bottom clip plane
        m_planes[3] = m[3] + m[1];
        // Near clip plane
        m_planes[4] = m[3] + m[2];
        // Far clip plane
        m_planes[5] = m[3] - m[2];
        
        m_dirty = false;
        m_normalized = false;
}

void KX_Camera::NormalizeClipPlanes()
{
        if (m_normalized)
                return;
        
        for (unsigned int p = 0; p < 6; p++)
        {
                MT_Scalar factor = sqrt(m_planes[p][0]*m_planes[p][0] + m_planes[p][1]*m_planes[p][1] + m_planes[p][2]*m_planes[p][2]);
                if (!MT_fuzzyZero(factor))
                        m_planes[p] /= factor;
        }
        
        m_normalized = true;
}

void KX_Camera::ExtractFrustumSphere()
{
        if (m_set_frustum_center)
                return;

    // compute sphere for the general case and not only symmetric frustum:
    // the mirror code in ImageRender can use very asymmetric frustum.
    // We will put the sphere center on the line that goes from origin to the center of the far clipping plane
    // This is the optimal position if the frustum is symmetric or very asymmetric and probably close
    // to optimal for the general case. The sphere center position is computed so that the distance to 
    // the near and far extreme frustum points are equal.

    // get the transformation matrix from device coordinate to camera coordinate
        MT_Matrix4x4 clip_camcs_matrix = m_projection_matrix;
        clip_camcs_matrix.invert();

        if (m_projection_matrix[3][3] == MT_Scalar(0.0)) 
        {
                // frustrum projection
                // detect which of the corner of the far clipping plane is the farthest to the origin
                MT_Vector4 nfar;    // far point in device normalized coordinate
                MT_Point3 farpoint; // most extreme far point in camera coordinate
                MT_Point3 nearpoint;// most extreme near point in camera coordinate
                MT_Point3 farcenter(0.,0.,0.);// center of far cliping plane in camera coordinate
                MT_Scalar F=-1.0, N; // square distance of far and near point to origin
                MT_Scalar f, n;     // distance of far and near point to z axis. f is always > 0 but n can be < 0
                MT_Scalar e, s;     // far and near clipping distance (<0)
                MT_Scalar c;        // slope of center line = distance of far clipping center to z axis / far clipping distance
                MT_Scalar z;        // projection of sphere center on z axis (<0)
                // tmp value
                MT_Vector4 npoint(1., 1., 1., 1.);
                MT_Vector4 hpoint;
                MT_Point3 point;
                MT_Scalar len;
                for (int i=0; i<4; i++)
                {
                hpoint = clip_camcs_matrix*npoint;
                        point.setValue(hpoint[0]/hpoint[3], hpoint[1]/hpoint[3], hpoint[2]/hpoint[3]);
                        len = point.dot(point);
                        if (len > F)
                        {
                                nfar = npoint;
                                farpoint = point;
                                F = len;
                        }
                        // rotate by 90 degree along the z axis to walk through the 4 extreme points of the far clipping plane
                        len = npoint[0];
                        npoint[0] = -npoint[1];
                        npoint[1] = len;
                        farcenter += point;
                }
                // the far center is the average of the far clipping points
                farcenter *= 0.25;
                // the extreme near point is the opposite point on the near clipping plane
                nfar.setValue(-nfar[0], -nfar[1], -1., 1.);
                nfar = clip_camcs_matrix*nfar;
                nearpoint.setValue(nfar[0]/nfar[3], nfar[1]/nfar[3], nfar[2]/nfar[3]);
                // this is a frustrum projection
                N = nearpoint.dot(nearpoint);
                e = farpoint[2];
                s = nearpoint[2];
                // projection on XY plane for distance to axis computation
                MT_Point2 farxy(farpoint[0], farpoint[1]);
                // f is forced positive by construction
                f = farxy.length();
                // get corresponding point on the near plane
                farxy *= s/e;
                // this formula preserve the sign of n
                n = f*s/e - MT_Point2(nearpoint[0]-farxy[0], nearpoint[1]-farxy[1]).length();
                c = MT_Point2(farcenter[0], farcenter[1]).length()/e;
                // the big formula, it simplifies to (F-N)/(2(e-s)) for the symmetric case
                z = (F-N)/(2.0*(e-s+c*(f-n)));
                m_frustum_center = MT_Point3(farcenter[0]*z/e, farcenter[1]*z/e, z);
                m_frustum_radius = m_frustum_center.distance(farpoint);
        } 
        else
        {
                // orthographic projection
                // The most extreme points on the near and far plane. (normalized device coords)
                MT_Vector4 hnear(1., 1., 1., 1.), hfar(-1., -1., -1., 1.);
                
                // Transform to hom camera local space
                hnear = clip_camcs_matrix*hnear;
                hfar = clip_camcs_matrix*hfar;
                
                // Tranform to 3d camera local space.
                MT_Point3 nearpoint(hnear[0]/hnear[3], hnear[1]/hnear[3], hnear[2]/hnear[3]);
                MT_Point3 farpoint(hfar[0]/hfar[3], hfar[1]/hfar[3], hfar[2]/hfar[3]);
                
                // just use mediant point
                m_frustum_center = (farpoint + nearpoint)*0.5;
                m_frustum_radius = m_frustum_center.distance(farpoint);
        }
        // Transform to world space.
        m_frustum_center = GetCameraToWorld()(m_frustum_center);
        m_frustum_radius /= fabs(NodeGetWorldScaling()[NodeGetWorldScaling().closestAxis()]);
        
        m_set_frustum_center = true;
}

bool KX_Camera::PointInsideFrustum(const MT_Point3& x)
{
        ExtractClipPlanes();
        
        for( unsigned int i = 0; i < 6 ; i++ )
        {
                if (m_planes[i][0]*x[0] + m_planes[i][1]*x[1] + m_planes[i][2]*x[2] + m_planes[i][3] < 0.)
                        return false;
        }
        return true;
}

int KX_Camera::BoxInsideFrustum(const MT_Point3 *box)
{
        ExtractClipPlanes();
        
        unsigned int insideCount = 0;
        // 6 view frustum planes
        for( unsigned int p = 0; p < 6 ; p++ )
        {
                unsigned int behindCount = 0;
                // 8 box vertices.
                for (unsigned int v = 0; v < 8 ; v++)
                {
                        if (m_planes[p][0]*box[v][0] + m_planes[p][1]*box[v][1] + m_planes[p][2]*box[v][2] + m_planes[p][3] < 0.)
                                behindCount++;
                }
                
                // 8 points behind this plane
                if (behindCount == 8)
                        return OUTSIDE;

                // Every box vertex is on the front side of this plane
                if (!behindCount)
                        insideCount++;
        }
        
        // All box vertices are on the front side of all frustum planes.
        if (insideCount == 6)
                return INSIDE;
        
        return INTERSECT;
}

int KX_Camera::SphereInsideFrustum(const MT_Point3& center, const MT_Scalar &radius)
{
        ExtractFrustumSphere();
        if (center.distance2(m_frustum_center) > (radius + m_frustum_radius)*(radius + m_frustum_radius))
                return OUTSIDE;

        unsigned int p;
        ExtractClipPlanes();
        NormalizeClipPlanes();
                
        MT_Scalar distance;
        int intersect = INSIDE;
        // distance:  <-------- OUTSIDE -----|----- INTERSECT -----0----- INTERSECT -----|----- INSIDE -------->
        //                                -radius                                      radius
        for (p = 0; p < 6; p++)
        {
                distance = m_planes[p][0]*center[0] + m_planes[p][1]*center[1] + m_planes[p][2]*center[2] + m_planes[p][3];
                if (fabs(distance) <= radius)
                        intersect = INTERSECT;
                else if (distance < -radius)
                        return OUTSIDE;
        }
        
        return intersect;
}

bool KX_Camera::GetFrustumCulling() const
{
        return m_frustum_culling;
}
 
void KX_Camera::EnableViewport(bool viewport)
{
        m_camdata.m_viewport = viewport;
}

void KX_Camera::SetViewport(int left, int bottom, int right, int top)
{
        m_camdata.m_viewportleft = left;
        m_camdata.m_viewportbottom = bottom;
        m_camdata.m_viewportright = right;
        m_camdata.m_viewporttop = top;
}

bool KX_Camera::GetViewport() const
{
        return m_camdata.m_viewport;
}

int KX_Camera::GetViewportLeft() const
{
        return m_camdata.m_viewportleft;
}

int KX_Camera::GetViewportBottom() const
{
        return m_camdata.m_viewportbottom;
}

int KX_Camera::GetViewportRight() const
{
        return m_camdata.m_viewportright;
}

int KX_Camera::GetViewportTop() const
{
        return m_camdata.m_viewporttop;
}

#ifdef WITH_PYTHON
//----------------------------------------------------------------------------
//Python


PyMethodDef KX_Camera::Methods[] = {
        KX_PYMETHODTABLE(KX_Camera, sphereInsideFrustum),
        KX_PYMETHODTABLE_O(KX_Camera, boxInsideFrustum),
        KX_PYMETHODTABLE_O(KX_Camera, pointInsideFrustum),
        KX_PYMETHODTABLE_NOARGS(KX_Camera, getCameraToWorld),
        KX_PYMETHODTABLE_NOARGS(KX_Camera, getWorldToCamera),
        KX_PYMETHODTABLE(KX_Camera, setViewport),
        KX_PYMETHODTABLE_NOARGS(KX_Camera, setOnTop),
        KX_PYMETHODTABLE_O(KX_Camera, getScreenPosition),
        KX_PYMETHODTABLE(KX_Camera, getScreenVect),
        KX_PYMETHODTABLE(KX_Camera, getScreenRay),
        {NULL,NULL} //Sentinel
};

PyAttributeDef KX_Camera::Attributes[] = {
        
        KX_PYATTRIBUTE_BOOL_RW("frustum_culling", KX_Camera, m_frustum_culling),
        KX_PYATTRIBUTE_RW_FUNCTION("perspective", KX_Camera, pyattr_get_perspective, pyattr_set_perspective),
        
        KX_PYATTRIBUTE_RW_FUNCTION("lens",      KX_Camera,      pyattr_get_lens, pyattr_set_lens),
        KX_PYATTRIBUTE_RW_FUNCTION("ortho_scale",       KX_Camera,      pyattr_get_ortho_scale, pyattr_set_ortho_scale),
        KX_PYATTRIBUTE_RW_FUNCTION("near",      KX_Camera,      pyattr_get_near, pyattr_set_near),
        KX_PYATTRIBUTE_RW_FUNCTION("far",       KX_Camera,      pyattr_get_far,  pyattr_set_far),
        
        KX_PYATTRIBUTE_RW_FUNCTION("useViewport",       KX_Camera,      pyattr_get_use_viewport,  pyattr_set_use_viewport),
        
        KX_PYATTRIBUTE_RW_FUNCTION("projection_matrix", KX_Camera,      pyattr_get_projection_matrix, pyattr_set_projection_matrix),
        KX_PYATTRIBUTE_RO_FUNCTION("modelview_matrix",  KX_Camera,      pyattr_get_modelview_matrix),
        KX_PYATTRIBUTE_RO_FUNCTION("camera_to_world",   KX_Camera,      pyattr_get_camera_to_world),
        KX_PYATTRIBUTE_RO_FUNCTION("world_to_camera",   KX_Camera,      pyattr_get_world_to_camera),
        
        /* Grrr, functions for constants? */
        KX_PYATTRIBUTE_RO_FUNCTION("INSIDE",    KX_Camera, pyattr_get_INSIDE),
        KX_PYATTRIBUTE_RO_FUNCTION("OUTSIDE",   KX_Camera, pyattr_get_OUTSIDE),
        KX_PYATTRIBUTE_RO_FUNCTION("INTERSECT", KX_Camera, pyattr_get_INTERSECT),
        
        { NULL }        //Sentinel
};

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

KX_PYMETHODDEF_DOC_VARARGS(KX_Camera, sphereInsideFrustum,
"sphereInsideFrustum(center, radius) -> Integer\n"
"\treturns INSIDE, OUTSIDE or INTERSECT if the given sphere is\n"
"\tinside/outside/intersects this camera's viewing frustum.\n\n"
"\tcenter = the center of the sphere (in world coordinates.)\n"
"\tradius = the radius of the sphere\n\n"
"\tExample:\n"
"\timport bge.logic\n\n"
"\tco = bge.logic.getCurrentController()\n"
"\tcam = co.GetOwner()\n\n"
"\t# A sphere of radius 4.0 located at [x, y, z] = [1.0, 1.0, 1.0]\n"
"\tif (cam.sphereInsideFrustum([1.0, 1.0, 1.0], 4) != cam.OUTSIDE):\n"
"\t\t# Sphere is inside frustum !\n"
"\t\t# Do something useful !\n"
"\telse:\n"
"\t\t# Sphere is outside frustum\n"
)
{
        PyObject *pycenter;
        float radius;
        if (PyArg_ParseTuple(args, "Of:sphereInsideFrustum", &pycenter, &radius))
        {
                MT_Point3 center;
                if (PyVecTo(pycenter, center))
                {
                        return PyLong_FromSsize_t(SphereInsideFrustum(center, radius)); /* new ref */
                }
        }

        PyErr_SetString(PyExc_TypeError, "camera.sphereInsideFrustum(center, radius): KX_Camera, expected arguments: (center, radius)");
        
        return NULL;
}

KX_PYMETHODDEF_DOC_O(KX_Camera, boxInsideFrustum,
"boxInsideFrustum(box) -> Integer\n"
"\treturns INSIDE, OUTSIDE or INTERSECT if the given box is\n"
"\tinside/outside/intersects this camera's viewing frustum.\n\n"
"\tbox = a list of the eight (8) corners of the box (in world coordinates.)\n\n"
"\tExample:\n"
"\timport bge.logic\n\n"
"\tco = bge.logic.getCurrentController()\n"
"\tcam = co.GetOwner()\n\n"
"\tbox = []\n"
"\tbox.append([-1.0, -1.0, -1.0])\n"
"\tbox.append([-1.0, -1.0,  1.0])\n"
"\tbox.append([-1.0,  1.0, -1.0])\n"
"\tbox.append([-1.0,  1.0,  1.0])\n"
"\tbox.append([ 1.0, -1.0, -1.0])\n"
"\tbox.append([ 1.0, -1.0,  1.0])\n"
"\tbox.append([ 1.0,  1.0, -1.0])\n"
"\tbox.append([ 1.0,  1.0,  1.0])\n\n"
"\tif (cam.boxInsideFrustum(box) != cam.OUTSIDE):\n"
"\t\t# Box is inside/intersects frustum !\n"
"\t\t# Do something useful !\n"
"\telse:\n"
"\t\t# Box is outside the frustum !\n"
)
{
        unsigned int num_points = PySequence_Size(value);
        if (num_points != 8)
        {
                PyErr_Format(PyExc_TypeError, "camera.boxInsideFrustum(box): KX_Camera, expected eight (8) points, got %d", num_points);
                return NULL;
        }
        
        MT_Point3 box[8];
        for (unsigned int p = 0; p < 8 ; p++)
        {
                PyObject *item = PySequence_GetItem(value, p); /* new ref */
                bool error = !PyVecTo(item, box[p]);
                Py_DECREF(item);
                if (error)
                        return NULL;
        }
        
        return PyLong_FromSsize_t(BoxInsideFrustum(box)); /* new ref */
}

KX_PYMETHODDEF_DOC_O(KX_Camera, pointInsideFrustum,
"pointInsideFrustum(point) -> Bool\n"
"\treturns 1 if the given point is inside this camera's viewing frustum.\n\n"
"\tpoint = The point to test (in world coordinates.)\n\n"
"\tExample:\n"
"\timport bge.logic\n\n"
"\tco = bge.logic.getCurrentController()\n"
"\tcam = co.GetOwner()\n\n"
"\t# Test point [0.0, 0.0, 0.0]"
"\tif (cam.pointInsideFrustum([0.0, 0.0, 0.0])):\n"
"\t\t# Point is inside frustum !\n"
"\t\t# Do something useful !\n"
"\telse:\n"
"\t\t# Box is outside the frustum !\n"
)
{
        MT_Point3 point;
        if (PyVecTo(value, point))
        {
                return PyLong_FromSsize_t(PointInsideFrustum(point)); /* new ref */
        }
        
        PyErr_SetString(PyExc_TypeError, "camera.pointInsideFrustum(point): KX_Camera, expected point argument.");
        return NULL;
}

KX_PYMETHODDEF_DOC_NOARGS(KX_Camera, getCameraToWorld,
"getCameraToWorld() -> Matrix4x4\n"
"\treturns the camera to world transformation matrix, as a list of four lists of four values.\n\n"
"\tie: [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])\n"
)
{
        return PyObjectFrom(GetCameraToWorld()); /* new ref */
}

KX_PYMETHODDEF_DOC_NOARGS(KX_Camera, getWorldToCamera,
"getWorldToCamera() -> Matrix4x4\n"
"\treturns the world to camera transformation matrix, as a list of four lists of four values.\n\n"
"\tie: [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])\n"
)
{
        return PyObjectFrom(GetWorldToCamera()); /* new ref */
}

KX_PYMETHODDEF_DOC_VARARGS(KX_Camera, setViewport,
"setViewport(left, bottom, right, top)\n"
"Sets this camera's viewport\n")
{
        int left, bottom, right, top;
        if (!PyArg_ParseTuple(args,"iiii:setViewport",&left, &bottom, &right, &top))
                return NULL;
        
        SetViewport(left, bottom, right, top);
        Py_RETURN_NONE;
}

KX_PYMETHODDEF_DOC_NOARGS(KX_Camera, setOnTop,
"setOnTop()\n"
"Sets this camera's viewport on top\n")
{
        class KX_Scene* scene = KX_GetActiveScene();
        scene->SetCameraOnTop(this);
        Py_RETURN_NONE;
}

PyObject* KX_Camera::pyattr_get_perspective(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        return PyBool_FromLong(self->m_camdata.m_perspective);
}

int KX_Camera::pyattr_set_perspective(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        int param = PyObject_IsTrue( value );
        if (param == -1) {
                PyErr_SetString(PyExc_AttributeError, "camera.perspective = bool: KX_Camera, expected True/False or 0/1");
                return PY_SET_ATTR_FAIL;
        }
        
        self->m_camdata.m_perspective= param;
        self->InvalidateProjectionMatrix();
        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_Camera::pyattr_get_lens(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        return PyFloat_FromDouble(self->m_camdata.m_lens);
}

int KX_Camera::pyattr_set_lens(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        float param = PyFloat_AsDouble(value);
        if (param == -1) {
                PyErr_SetString(PyExc_AttributeError, "camera.lens = float: KX_Camera, expected a float greater then zero");
                return PY_SET_ATTR_FAIL;
        }
        
        self->m_camdata.m_lens= param;
        self->m_set_projection_matrix = false;
        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_Camera::pyattr_get_ortho_scale(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        return PyFloat_FromDouble(self->m_camdata.m_scale);
}

int KX_Camera::pyattr_set_ortho_scale(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        float param = PyFloat_AsDouble(value);
        if (param == -1) {
                PyErr_SetString(PyExc_AttributeError, "camera.ortho_scale = float: KX_Camera, expected a float greater then zero");
                return PY_SET_ATTR_FAIL;
        }
        
        self->m_camdata.m_scale= param;
        self->m_set_projection_matrix = false;
        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_Camera::pyattr_get_near(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        return PyFloat_FromDouble(self->m_camdata.m_clipstart);
}

int KX_Camera::pyattr_set_near(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        float param = PyFloat_AsDouble(value);
        if (param == -1) {
                PyErr_SetString(PyExc_AttributeError, "camera.near = float: KX_Camera, expected a float greater then zero");
                return PY_SET_ATTR_FAIL;
        }
        
        self->m_camdata.m_clipstart= param;
        self->m_set_projection_matrix = false;
        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_Camera::pyattr_get_far(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        return PyFloat_FromDouble(self->m_camdata.m_clipend);
}

int KX_Camera::pyattr_set_far(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        float param = PyFloat_AsDouble(value);
        if (param == -1) {
                PyErr_SetString(PyExc_AttributeError, "camera.far = float: KX_Camera, expected a float greater then zero");
                return PY_SET_ATTR_FAIL;
        }
        
        self->m_camdata.m_clipend= param;
        self->m_set_projection_matrix = false;
        return PY_SET_ATTR_SUCCESS;
}


PyObject* KX_Camera::pyattr_get_use_viewport(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        return PyBool_FromLong(self->GetViewport());
}

int KX_Camera::pyattr_set_use_viewport(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        int param = PyObject_IsTrue( value );
        if (param == -1) {
                PyErr_SetString(PyExc_AttributeError, "camera.useViewport = bool: KX_Camera, expected True or False");
                return PY_SET_ATTR_FAIL;
        }
        self->EnableViewport((bool)param);
        return PY_SET_ATTR_SUCCESS;
}


PyObject* KX_Camera::pyattr_get_projection_matrix(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        return PyObjectFrom(self->GetProjectionMatrix()); 
}

int KX_Camera::pyattr_set_projection_matrix(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        MT_Matrix4x4 mat;
        if (!PyMatTo(value, mat)) 
                return PY_SET_ATTR_FAIL;
        
        self->SetProjectionMatrix(mat);
        return PY_SET_ATTR_SUCCESS;
}

PyObject* KX_Camera::pyattr_get_modelview_matrix(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        return PyObjectFrom(self->GetModelviewMatrix()); 
}

PyObject* KX_Camera::pyattr_get_camera_to_world(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        return PyObjectFrom(self->GetCameraToWorld());
}

PyObject* KX_Camera::pyattr_get_world_to_camera(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_Camera* self= static_cast<KX_Camera*>(self_v);
        return PyObjectFrom(self->GetWorldToCamera()); 
}


PyObject* KX_Camera::pyattr_get_INSIDE(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{       return PyLong_FromSsize_t(INSIDE); }
PyObject* KX_Camera::pyattr_get_OUTSIDE(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{       return PyLong_FromSsize_t(OUTSIDE); }
PyObject* KX_Camera::pyattr_get_INTERSECT(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{       return PyLong_FromSsize_t(INTERSECT); }


bool ConvertPythonToCamera(PyObject * value, KX_Camera **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_Camera or a KX_Camera name, None is invalid", error_prefix);
                        return false;
                }
        }
        
        if (PyUnicode_Check(value)) {
                STR_String value_str = _PyUnicode_AsString(value);
                *object = KX_GetActiveScene()->FindCamera(value_str);
                
                if (*object) {
                        return true;
                } else {
                        PyErr_Format(PyExc_ValueError, "%s, requested name \"%s\" did not match any KX_Camera in this scene", error_prefix, _PyUnicode_AsString(value));
                        return false;
                }
        }
        
        if (PyObject_TypeCheck(value, &KX_Camera::Type)) {
                *object = static_cast<KX_Camera*>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_Camera, a string or None", error_prefix);
        } else {
                PyErr_Format(PyExc_TypeError, "%s, expect a KX_Camera or a string", error_prefix);
        }
        
        return false;
}

KX_PYMETHODDEF_DOC_O(KX_Camera, getScreenPosition,
"getScreenPosition()\n"
)

{
        MT_Vector3 vect;
        KX_GameObject *obj = NULL;

        if (!PyVecTo(value, vect))
        {
                PyErr_Clear();

                if(ConvertPythonToGameObject(value, &obj, true, ""))
                {
                        PyErr_Clear();
                        vect = MT_Vector3(obj->NodeGetWorldPosition());
                }
                else
                {
                        PyErr_SetString(PyExc_TypeError, "Error in getScreenPosition. Expected a Vector3 or a KX_GameObject or a string for a name of a KX_GameObject");
                        return NULL;
                }
        }

        GLint viewport[4];
        GLdouble win[3];
        GLdouble modelmatrix[16];
        GLdouble projmatrix[16];

        MT_Matrix4x4 m_modelmatrix = this->GetModelviewMatrix();
        MT_Matrix4x4 m_projmatrix = this->GetProjectionMatrix();

        m_modelmatrix.getValue(modelmatrix);
        m_projmatrix.getValue(projmatrix);

        glGetIntegerv(GL_VIEWPORT, viewport);

        gluProject(vect[0], vect[1], vect[2], modelmatrix, projmatrix, viewport, &win[0], &win[1], &win[2]);

        vect[0] =  (win[0] - viewport[0]) / viewport[2];
        vect[1] =  (win[1] - viewport[1]) / viewport[3];

        vect[1] = 1.0 - vect[1]; //to follow Blender window coordinate system (Top-Down)

        PyObject* ret = PyTuple_New(2);
        if(ret){
                PyTuple_SET_ITEM(ret, 0, PyFloat_FromDouble(vect[0]));
                PyTuple_SET_ITEM(ret, 1, PyFloat_FromDouble(vect[1]));
                return ret;
        }

        return NULL;
}

KX_PYMETHODDEF_DOC_VARARGS(KX_Camera, getScreenVect,
"getScreenVect()\n"
)
{
        double x,y;
        if (!PyArg_ParseTuple(args,"dd:getScreenVect",&x,&y))
                return NULL;

        y = 1.0 - y; //to follow Blender window coordinate system (Top-Down)

        MT_Vector3 vect;
        MT_Point3 campos, screenpos;

        GLint viewport[4];
        GLdouble win[3];
        GLdouble modelmatrix[16];
        GLdouble projmatrix[16];

        MT_Matrix4x4 m_modelmatrix = this->GetModelviewMatrix();
        MT_Matrix4x4 m_projmatrix = this->GetProjectionMatrix();

        m_modelmatrix.getValue(modelmatrix);
        m_projmatrix.getValue(projmatrix);

        glGetIntegerv(GL_VIEWPORT, viewport);

        vect[0] = x * viewport[2];
        vect[1] = y * viewport[3];

        vect[0] += viewport[0];
        vect[1] += viewport[1];

        glReadPixels(x, y, 1, 1, GL_DEPTH_COMPONENT, GL_FLOAT, &vect[2]);
        gluUnProject(vect[0], vect[1], vect[2], modelmatrix, projmatrix, viewport, &win[0], &win[1], &win[2]);

        campos = this->GetCameraLocation();
        screenpos = MT_Point3(win[0], win[1], win[2]);
        vect = campos-screenpos;

        vect.normalize();
        return PyObjectFrom(vect);
}

KX_PYMETHODDEF_DOC_VARARGS(KX_Camera, getScreenRay,
"getScreenRay()\n"
)
{
        MT_Vector3 vect;
        double x,y,dist;
        char *propName = NULL;

        if (!PyArg_ParseTuple(args,"ddd|s:getScreenRay",&x,&y,&dist,&propName))
                return NULL;

        PyObject* argValue = PyTuple_New(2);
        PyTuple_SET_ITEM(argValue, 0, PyFloat_FromDouble(x));
        PyTuple_SET_ITEM(argValue, 1, PyFloat_FromDouble(y));

        if(!PyVecTo(PygetScreenVect(argValue), vect))
        {
                Py_DECREF(argValue);
                PyErr_SetString(PyExc_TypeError,
                        "Error in getScreenRay. Invalid 2D coordinate. Expected a normalized 2D screen coordinate, a distance and an optional property argument");
                return NULL;
        }
        Py_DECREF(argValue);

        dist = -dist;
        vect += this->GetCameraLocation();

        argValue = (propName?PyTuple_New(3):PyTuple_New(2));
        if (argValue) {
                PyTuple_SET_ITEM(argValue, 0, PyObjectFrom(vect));
                PyTuple_SET_ITEM(argValue, 1, PyFloat_FromDouble(dist));
                if (propName)
                        PyTuple_SET_ITEM(argValue, 2, PyUnicode_FromString(propName));

                PyObject* ret= this->PyrayCastTo(argValue,NULL);
                Py_DECREF(argValue);
                return ret;
        }

        return NULL;
}
#endif