KX_NearSensor.cpp

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/*
 * Sense if other objects are near
 *
 * $Id: KX_NearSensor.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_NearSensor.h"
#include "SCA_LogicManager.h"
#include "KX_GameObject.h"
#include "KX_TouchEventManager.h"
#include "KX_Scene.h" // needed to create a replica
#include "PHY_IPhysicsEnvironment.h"
#include "PHY_IPhysicsController.h"
#include "PHY_IMotionState.h"

KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
                                                         KX_GameObject* gameobj,
                                                         float margin,
                                                         float resetmargin,
                                                         bool bFindMaterial,
                                                         const STR_String& touchedpropname,
                                                         PHY_IPhysicsController* ctrl)
                         :KX_TouchSensor(eventmgr,
                                                         gameobj,
                                                         bFindMaterial,
                                                         false,
                                                         touchedpropname),
                         m_Margin(margin),
                         m_ResetMargin(resetmargin)

{

        gameobj->getClientInfo()->m_sensors.remove(this);
        m_client_info = new KX_ClientObjectInfo(gameobj, KX_ClientObjectInfo::SENSOR);
        m_client_info->m_sensors.push_back(this);
        
        //DT_ShapeHandle shape = (DT_ShapeHandle) vshape;
        m_physCtrl = ctrl;
        if (m_physCtrl)
        {
                m_physCtrl->SetMargin(m_Margin);
                m_physCtrl->setNewClientInfo(m_client_info);
        }
        SynchronizeTransform();
}

void KX_NearSensor::SynchronizeTransform()
{
        // The near and radar sensors are using a different physical object which is 
        // not linked to the parent object, must synchronize it.
        if (m_physCtrl)
        {
                PHY_IMotionState* motionState = m_physCtrl->GetMotionState();
                KX_GameObject* parent = ((KX_GameObject*)GetParent());
                const MT_Point3& pos = parent->NodeGetWorldPosition();
                float ori[12];
                parent->NodeGetWorldOrientation().getValue(ori);
                motionState->setWorldPosition(pos[0], pos[1], pos[2]);
                motionState->setWorldOrientation(ori);
                m_physCtrl->WriteMotionStateToDynamics(true);
        }
}

CValue* KX_NearSensor::GetReplica()
{
        KX_NearSensor* replica = new KX_NearSensor(*this);
        replica->ProcessReplica();
        return replica;
}

void KX_NearSensor::ProcessReplica()
{
        KX_TouchSensor::ProcessReplica();
        
        m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::SENSOR);
        
        if (m_physCtrl)
        {
                m_physCtrl = m_physCtrl->GetReplica();
                if (m_physCtrl)
                {
                        //static_cast<KX_TouchEventManager*>(m_eventmgr)->GetPhysicsEnvironment()->addSensor(replica->m_physCtrl);
                        m_physCtrl->SetMargin(m_Margin);
                        m_physCtrl->setNewClientInfo(m_client_info);
                }
                
        }
}

void KX_NearSensor::ReParent(SCA_IObject* parent)
{
        SCA_ISensor::ReParent(parent);
        m_client_info->m_gameobject = static_cast<KX_GameObject*>(parent); 
        m_client_info->m_sensors.push_back(this);
        //Synchronize here with the actual parent.
        SynchronizeTransform();
}



KX_NearSensor::~KX_NearSensor()
{
        // for nearsensor, the sensor is the 'owner' of sumoobj
        // for touchsensor, it's the parent
        if (m_physCtrl)
        {
                //static_cast<KX_TouchEventManager*>(m_eventmgr)->GetPhysicsEnvironment()->removeSensor(m_physCtrl);
                delete m_physCtrl;
                m_physCtrl = NULL;
        }
        
                
        if (m_client_info)
                delete m_client_info;
}

void KX_NearSensor::SetPhysCtrlRadius()
{
        if (m_bTriggered)
        {
                if (m_physCtrl)
                {
                        m_physCtrl->SetRadius(m_ResetMargin);
                }
        } else
        {
                if (m_physCtrl)
                {
                        m_physCtrl->SetRadius(m_Margin);
                }
        }
}

bool KX_NearSensor::Evaluate()
{
        bool result = false;
//      KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());

        if (m_bTriggered != m_bLastTriggered)
        {
                m_bLastTriggered = m_bTriggered;
                
                SetPhysCtrlRadius();
                
                result = true;
        }

        return result;
}

// this function is called at broad phase stage to check if the two controller
// need to interact at all. It is used for Near/Radar sensor that don't need to
// check collision with object not included in filter
bool    KX_NearSensor::BroadPhaseFilterCollision(void*obj1,void*obj2)
{
        KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
        
        // need the mapping from PHY_IPhysicsController to gameobjects now
        assert(obj1==m_physCtrl && obj2);
        KX_ClientObjectInfo* client_info = static_cast<KX_ClientObjectInfo*>((static_cast<PHY_IPhysicsController*>(obj2))->getNewClientInfo());

        KX_GameObject* gameobj = ( client_info ? 
                        client_info->m_gameobject :
                        NULL);
        
        if (gameobj && (gameobj != parent))
        {
                // only take valid colliders
                if (client_info->m_type == KX_ClientObjectInfo::ACTOR)
                {
                        if ((m_touchedpropname.Length() == 0) || 
                                (gameobj->GetProperty(m_touchedpropname)))
                        {
                                return true;
                        }
                }
        }

        return false;
}

bool    KX_NearSensor::NewHandleCollision(void* obj1,void* obj2,const PHY_CollData * coll_data)
{
//      KX_TouchEventManager* toucheventmgr = static_cast<KX_TouchEventManager*>(m_eventmgr);
//      KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
        
        // need the mapping from PHY_IPhysicsController to gameobjects now
        
        KX_ClientObjectInfo* client_info =static_cast<KX_ClientObjectInfo*> (obj1 == m_physCtrl? 
                                        ((PHY_IPhysicsController*)obj2)->getNewClientInfo() : 
                                        ((PHY_IPhysicsController*)obj1)->getNewClientInfo());

        KX_GameObject* gameobj = ( client_info ? 
                        client_info->m_gameobject :
                        NULL);
        
        // Add the same check as in SCA_ISensor::Activate(), 
        // we don't want to record collision when the sensor is not active.
        if (m_links && !m_suspended &&
                gameobj /* done in BroadPhaseFilterCollision() && (gameobj != parent)*/)
        {
                if (!m_colliders->SearchValue(gameobj))
                        m_colliders->Add(gameobj->AddRef());
                // only take valid colliders
                // These checks are done already in BroadPhaseFilterCollision()
                //if (client_info->m_type == KX_ClientObjectInfo::ACTOR)
                //{
                //      if ((m_touchedpropname.Length() == 0) || 
                //              (gameobj->GetProperty(m_touchedpropname)))
                //      {
                                m_bTriggered = true;
                                m_hitObject = gameobj;
                //      }
                //}
        }
        
        return false; // was DT_CONTINUE; but this was defined in Sumo as false
}

#ifdef WITH_PYTHON

/* ------------------------------------------------------------------------- */
/* Python Functions                                                                                                                      */
/* ------------------------------------------------------------------------- */

/* ------------------------------------------------------------------------- */
/* Python Integration Hooks                                                  */
/* ------------------------------------------------------------------------- */

PyTypeObject KX_NearSensor::Type = {
        PyVarObject_HEAD_INIT(NULL, 0)
        "KX_NearSensor",
        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,
        &KX_TouchSensor::Type,
        0,0,0,0,0,0,
        py_base_new
};

PyMethodDef KX_NearSensor::Methods[] = {
        //No methods
        {NULL,NULL} //Sentinel
};

PyAttributeDef KX_NearSensor::Attributes[] = {
        KX_PYATTRIBUTE_FLOAT_RW_CHECK("distance", 0, 100, KX_NearSensor, m_Margin, CheckResetDistance),
        KX_PYATTRIBUTE_FLOAT_RW_CHECK("resetDistance", 0, 100, KX_NearSensor, m_ResetMargin, CheckResetDistance),
        {NULL} //Sentinel
};

#endif // WITH_PYTHON