KX_RaySensor.cpp

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/*
 * Cast a ray and feel for objects
 *
 * $Id: KX_RaySensor.cpp 35171 2011-02-25 13:35:59Z jesterking $
 *
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
 * All rights reserved.
 *
 * The Original Code is: all of this file.
 *
 * Contributor(s): none yet.
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#include "KX_RaySensor.h"
#include "SCA_EventManager.h"
#include "SCA_RandomEventManager.h"
#include "SCA_LogicManager.h"
#include "SCA_IObject.h"
#include "KX_ClientObjectInfo.h"
#include "KX_GameObject.h"
#include "KX_Scene.h"
#include "KX_RayCast.h"
#include "KX_PyMath.h"
#include "PHY_IPhysicsEnvironment.h"
#include "KX_IPhysicsController.h"
#include "PHY_IPhysicsController.h"
#include "DNA_sensor_types.h"

#include <stdio.h>


KX_RaySensor::KX_RaySensor(class SCA_EventManager* eventmgr,
                                        SCA_IObject* gameobj,
                                        const STR_String& propname,
                                        bool bFindMaterial,
                                        bool bXRay,
                                        double distance,
                                        int axis,
                                        KX_Scene* ketsjiScene)
                        : SCA_ISensor(gameobj,eventmgr),
                                        m_propertyname(propname),
                                        m_bFindMaterial(bFindMaterial),
                                        m_bXRay(bXRay),
                                        m_distance(distance),
                                        m_scene(ketsjiScene),
                                        m_axis(axis)

                                
{
        Init();
}

void KX_RaySensor::Init()
{
        m_bTriggered = (m_invert)?true:false;
        m_rayHit = false;
        m_hitObject = NULL;
        m_reset = true;
}

KX_RaySensor::~KX_RaySensor() 
{
    /* Nothing to be done here. */
}



CValue* KX_RaySensor::GetReplica()
{
        KX_RaySensor* replica = new KX_RaySensor(*this);
        replica->ProcessReplica();
        replica->Init();

        return replica;
}



bool KX_RaySensor::IsPositiveTrigger()
{
        bool result = m_rayHit;

        if (m_invert)
                result = !result;
        
        return result;
}

bool KX_RaySensor::RayHit(KX_ClientObjectInfo* client, KX_RayCast* result, void * const data)
{

        KX_GameObject* hitKXObj = client->m_gameobject;
        bool bFound = false;

        if (m_propertyname.Length() == 0)
        {
                bFound = true;
        }
        else
        {
                if (m_bFindMaterial)
                {
                        if (client->m_auxilary_info)
                        {
                                bFound = (m_propertyname== ((char*)client->m_auxilary_info));
                        }
                }
                else
                {
                        bFound = hitKXObj->GetProperty(m_propertyname) != NULL;
                }
        }

        if (bFound)
        {
                m_rayHit = true;
                m_hitObject = hitKXObj;
                m_hitPosition[0] = result->m_hitPoint[0];
                m_hitPosition[1] = result->m_hitPoint[1];
                m_hitPosition[2] = result->m_hitPoint[2];

                m_hitNormal[0] = result->m_hitNormal[0];
                m_hitNormal[1] = result->m_hitNormal[1];
                m_hitNormal[2] = result->m_hitNormal[2];
                        
        }
        // no multi-hit search yet
        return true;
}

/* this function is used to pre-filter the object before casting the ray on them.
   This is useful for "X-Ray" option when we want to see "through" unwanted object.
 */
bool KX_RaySensor::NeedRayCast(KX_ClientObjectInfo* client)
{
        if (client->m_type > KX_ClientObjectInfo::ACTOR)
        {
                // Unknown type of object, skip it.
                // Should not occur as the sensor objects are filtered in RayTest()
                printf("Invalid client type %d found ray casting\n", client->m_type);
                return false;
        }
        if (m_bXRay && m_propertyname.Length() != 0)
        {
                if (m_bFindMaterial)
                {
                        // not quite correct: an object may have multiple material
                        // should check all the material and not only the first one
                        if (!client->m_auxilary_info || (m_propertyname != ((char*)client->m_auxilary_info)))
                                return false;
                }
                else
                {
                        if (client->m_gameobject->GetProperty(m_propertyname) == NULL)
                                return false;
                }
        }
        return true;
}

bool KX_RaySensor::Evaluate()
{
        bool result = false;
        bool reset = m_reset && m_level;
        m_rayHit = false; 
        m_hitObject = NULL;
        m_hitPosition[0] = 0;
        m_hitPosition[1] = 0;
        m_hitPosition[2] = 0;

        m_hitNormal[0] = 1;
        m_hitNormal[1] = 0;
        m_hitNormal[2] = 0;
        
        KX_GameObject* obj = (KX_GameObject*)GetParent();
        MT_Point3 frompoint = obj->NodeGetWorldPosition();
        MT_Matrix3x3 matje = obj->NodeGetWorldOrientation();
        MT_Matrix3x3 invmat = matje.inverse();
        
        MT_Vector3 todir;
        m_reset = false;
        switch (m_axis)
        {
        case SENS_RAY_X_AXIS: // X
                {
                        todir[0] = invmat[0][0];
                        todir[1] = invmat[0][1];
                        todir[2] = invmat[0][2];
                        break;
                }
        case SENS_RAY_Y_AXIS: // Y
                {
                        todir[0] = invmat[1][0];
                        todir[1] = invmat[1][1];
                        todir[2] = invmat[1][2];
                        break;
                }
        case SENS_RAY_Z_AXIS: // Z
                {
                        todir[0] = invmat[2][0];
                        todir[1] = invmat[2][1];
                        todir[2] = invmat[2][2];
                        break;
                }
        case SENS_RAY_NEG_X_AXIS: // -X
                {
                        todir[0] = -invmat[0][0];
                        todir[1] = -invmat[0][1];
                        todir[2] = -invmat[0][2];
                        break;
                }
        case SENS_RAY_NEG_Y_AXIS: // -Y
                {
                        todir[0] = -invmat[1][0];
                        todir[1] = -invmat[1][1];
                        todir[2] = -invmat[1][2];
                        break;
                }
        case SENS_RAY_NEG_Z_AXIS: // -Z
                {
                        todir[0] = -invmat[2][0];
                        todir[1] = -invmat[2][1];
                        todir[2] = -invmat[2][2];
                        break;
                }
        }
        todir.normalize();
        m_rayDirection[0] = todir[0];
        m_rayDirection[1] = todir[1];
        m_rayDirection[2] = todir[2];

        MT_Point3 topoint = frompoint + (m_distance) * todir;
        PHY_IPhysicsEnvironment* pe = m_scene->GetPhysicsEnvironment();

        if (!pe)
        {
                std::cout << "WARNING: Ray sensor " << GetName() << ":  There is no physics environment!" << std::endl;
                std::cout << "         Check universe for malfunction." << std::endl;
                return false;
        } 

        KX_IPhysicsController *spc = obj->GetPhysicsController();
        KX_GameObject *parent = obj->GetParent();
        if (!spc && parent)
                spc = parent->GetPhysicsController();
        
        if (parent)
                parent->Release();
        

        PHY_IPhysicsEnvironment* physics_environment = this->m_scene->GetPhysicsEnvironment();
        

        KX_RayCast::Callback<KX_RaySensor> callback(this, spc);
        KX_RayCast::RayTest(physics_environment, frompoint, topoint, callback);

        /* now pass this result to some controller */

    if (m_rayHit)
        {
                if (!m_bTriggered)
                {
                        // notify logicsystem that ray is now hitting
                        result = true;
                        m_bTriggered = true;
                }
                else
                  {
                        // notify logicsystem that ray is STILL hitting ...
                        result = false;
                    
                  }
        }
    else
      {
                if (m_bTriggered)
                {
                        m_bTriggered = false;
                        // notify logicsystem that ray JUST left the Object
                        result = true;
                }
                else
                {
                        result = false;
                }
        
      }
    if (reset)
                // force an event
                result = true;

        return result;
}

#ifdef WITH_PYTHON

/* ------------------------------------------------------------------------- */
/* Python functions                                                          */
/* ------------------------------------------------------------------------- */

/* Integration hooks ------------------------------------------------------- */
PyTypeObject KX_RaySensor::Type = {
        PyVarObject_HEAD_INIT(NULL, 0)
        "KX_RaySensor",
        sizeof(PyObjectPlus_Proxy),
        0,
        py_base_dealloc,
        0,
        0,
        0,
        0,
        py_base_repr,
        0,0,0,0,0,0,0,0,0,
        Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
        0,0,0,0,0,0,0,
        Methods,
        0,
        0,
        &SCA_ISensor::Type,
        0,0,0,0,0,0,
        py_base_new

};

PyMethodDef KX_RaySensor::Methods[] = {
        {NULL,NULL} //Sentinel
};

PyAttributeDef KX_RaySensor::Attributes[] = {
        KX_PYATTRIBUTE_BOOL_RW("useMaterial", KX_RaySensor, m_bFindMaterial),
        KX_PYATTRIBUTE_BOOL_RW("useXRay", KX_RaySensor, m_bXRay),
        KX_PYATTRIBUTE_FLOAT_RW("range", 0, 10000, KX_RaySensor, m_distance),
        KX_PYATTRIBUTE_STRING_RW("propName", 0, 100, false, KX_RaySensor, m_propertyname),
        KX_PYATTRIBUTE_INT_RW("axis", 0, 5, true, KX_RaySensor, m_axis),
        KX_PYATTRIBUTE_FLOAT_ARRAY_RO("hitPosition", KX_RaySensor, m_hitPosition, 3),
        KX_PYATTRIBUTE_FLOAT_ARRAY_RO("rayDirection", KX_RaySensor, m_rayDirection, 3),
        KX_PYATTRIBUTE_FLOAT_ARRAY_RO("hitNormal", KX_RaySensor, m_hitNormal, 3),
        KX_PYATTRIBUTE_RO_FUNCTION("hitObject", KX_RaySensor, pyattr_get_hitobject),
        { NULL }        //Sentinel
};

PyObject* KX_RaySensor::pyattr_get_hitobject(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
        KX_RaySensor* self = static_cast<KX_RaySensor*>(self_v);
        if (self->m_hitObject)
                return self->m_hitObject->GetProxy();

        Py_RETURN_NONE;
}

#endif // WITH_PYTHON