KX_GameObject.cpp

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/*
 * ***** 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 "KX_ObstacleSimulation.h"

#include "BL_ActionManager.h"

#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_pObstacleSimulation(NULL),
      m_actionManager(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;
    }

    if (m_pObstacleSimulation)
    {
        m_pObstacleSimulation->DestroyObstacleForObj(this);
    }

    if (m_actionManager)
    {
        KX_GetActiveScene()->RemoveAnimatedObject(this);
        delete m_actionManager;
    }
#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
    }
}

BL_ActionManager* KX_GameObject::GetActionManager()
{
    // We only want to create an action manager if we need it
    if (!m_actionManager)
    {       
        KX_GetActiveScene()->AddAnimatedObject(this);
        m_actionManager = new BL_ActionManager(this);
    }
    return m_actionManager;
}

bool KX_GameObject::PlayAction(const char* name,
                                float start,
                                float end,
                                short layer,
                                short priority,
                                float blendin,
                                short play_mode,
                                float layer_weight,
                                short ipo_flags,
                                float playback_speed)
{
    return GetActionManager()->PlayAction(name, start, end, layer, priority, blendin, play_mode, layer_weight, ipo_flags, playback_speed);
}

void KX_GameObject::StopAction(short layer)
{
    GetActionManager()->StopAction(layer);
}

bool KX_GameObject::IsActionDone(short layer)
{
    return GetActionManager()->IsActionDone(layer);
}

void KX_GameObject::UpdateActionManager(float curtime)
{
    GetActionManager()->Update(curtime);
}

float KX_GameObject::GetActionFrame(short layer)
{
    return GetActionManager()->GetActionFrame(layer);
}

void KX_GameObject::SetActionFrame(short layer, float frame)
{
    GetActionManager()->SetActionFrame(layer, frame);
}

bAction *KX_GameObject::GetCurrentAction(short layer)
{
    return GetActionManager()->GetCurrentAction(layer);
}

void KX_GameObject::SetPlayMode(short layer, short mode)
{
    GetActionManager()->SetPlayMode(layer, mode);
}

void KX_GameObject::SetTimes(short layer, float start, float end)
{
    GetActionManager()->SetTimes(layer, start, end);
}

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;
    if (m_actionManager)
        m_actionManager = new BL_ActionManager(this);
    m_state = 0;

    KX_Scene* scene = KX_GetActiveScene();
    KX_ObstacleSimulation* obssimulation = scene->GetObstacleSimulation();
    struct Object* blenderobject = GetBlenderObject();
    if (obssimulation && (blenderobject->gameflag & OB_HASOBSTACLE))
    {
        obssimulation->AddObstacleForObj(this);
    }

#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),

    KX_PYMETHODTABLE_KEYWORDS(KX_GameObject, playAction),
    KX_PYMETHODTABLE(KX_GameObject, stopAction),
    KX_PYMETHODTABLE(KX_GameObject, getActionFrame),
    KX_PYMETHODTABLE(KX_GameObject, setActionFrame),
    KX_PYMETHODTABLE(KX_GameObject, isPlayingAction),
    
    // 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_From_STR_String(self->GetName());
}

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->GetLinVelocityMin() : 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 Vector_CreatePyObject_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 Vector_CreatePyObject_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 Vector_CreatePyObject_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 Matrix_CreatePyObject_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 Matrix_CreatePyObject_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 Vector_CreatePyObject_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 Vector_CreatePyObject_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 Vector_CreatePyObject_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 Vector_CreatePyObject_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 Vector_CreatePyObject_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 Vector_CreatePyObject_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 Vector_CreatePyObject_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;
}

static void layer_check(short &layer, const char *method_name)
{
    if (layer < 0 || layer >= MAX_ACTION_LAYERS)
    {
        printf("KX_GameObject.%s(): given layer (%d) is out of range (0 - %d), setting to 0.\n", method_name, layer, MAX_ACTION_LAYERS-1);
        layer = 0;
    }
}

KX_PYMETHODDEF_DOC(KX_GameObject, playAction,
    "playAction(name, start_frame, end_frame, layer=0, priority=0 blendin=0, play_mode=ACT_MODE_PLAY, layer_weight=0.0, ipo_flags=0, speed=1.0)\n"
    "Plays an action\n")
{
    const char* name;
    float start, end, blendin=0.f, speed=1.f, layer_weight=0.f;
    short layer=0, priority=0;
    short ipo_flags=0;
    short play_mode=0;

    static const char *kwlist[] = {"name", "start_frame", "end_frame", "layer", "priority", "blendin", "play_mode", "layer_weight", "ipo_flags", "speed", NULL};

    if (!PyArg_ParseTupleAndKeywords(args, kwds, "sff|hhfhfhf:playAction", const_cast<char**>(kwlist),
                                    &name, &start, &end, &layer, &priority, &blendin, &play_mode, &layer_weight, &ipo_flags, &speed))
        return NULL;

    layer_check(layer, "playAction");

    if (play_mode < 0 || play_mode > BL_Action::ACT_MODE_MAX)
    {
        printf("KX_GameObject.playAction(): given play_mode (%d) is out of range (0 - %d), setting to ACT_MODE_PLAY", play_mode, BL_Action::ACT_MODE_MAX-1);
        play_mode = BL_Action::ACT_MODE_MAX;
    }

    if (layer_weight < 0.f || layer_weight > 1.f)
    {
        printf("KX_GameObject.playAction(): given layer_weight (%f) is out of range (0.0 - 1.0), setting to 0.0", layer_weight);
        layer_weight = 0.f;
    }

    PlayAction(name, start, end, layer, priority, blendin, play_mode, layer_weight, ipo_flags, speed);

    Py_RETURN_NONE;
}

KX_PYMETHODDEF_DOC(KX_GameObject, stopAction,
    "stopAction(layer=0)\n"
    "Stop playing the action on the given layer\n")
{
    short layer=0;

    if (!PyArg_ParseTuple(args, "|h:stopAction", &layer))
        return NULL;

    layer_check(layer, "stopAction");

    StopAction(layer);

    Py_RETURN_NONE;
}

KX_PYMETHODDEF_DOC(KX_GameObject, getActionFrame,
    "getActionFrame(layer=0)\n"
    "Gets the current frame of the action playing in the supplied layer\n")
{
    short layer=0;

    if (!PyArg_ParseTuple(args, "|h:getActionFrame", &layer))
        return NULL;

    layer_check(layer, "getActionFrame");

    return PyFloat_FromDouble(GetActionFrame(layer));
}

KX_PYMETHODDEF_DOC(KX_GameObject, setActionFrame,
    "setActionFrame(frame, layer=0)\n"
    "Set the current frame of the action playing in the supplied layer\n")
{
    short layer=0;
    float frame;

    if (!PyArg_ParseTuple(args, "f|h:setActionFrame", &frame, &layer))
        return NULL;

    layer_check(layer, "setActionFrame");

    SetActionFrame(layer, frame);

    Py_RETURN_NONE;
}

KX_PYMETHODDEF_DOC(KX_GameObject, isPlayingAction,
    "isPlayingAction(layer=0)\n"
    "Checks to see if there is an action playing in the given layer\n")
{
    short layer=0;

    if (!PyArg_ParseTuple(args, "|h:isPlayingAction", &layer))
        return NULL;

    layer_check(layer, "isPlayingAction");

    return PyBool_FromLong(!IsActionDone(layer));
}


/* 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