KX_RadarSensor.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 *****
 */

#include "KX_RadarSensor.h"
#include "KX_GameObject.h"
#include "KX_PyMath.h"
#include "PHY_IPhysicsController.h"
#include "PHY_IMotionState.h"
#include "DNA_sensor_types.h"

KX_RadarSensor::KX_RadarSensor(SCA_EventManager* eventmgr,
        KX_GameObject* gameobj,
        PHY_IPhysicsController* physCtrl,
            double coneradius,
            double coneheight,
            int axis,
            double margin,
            double resetmargin,
            bool bFindMaterial,
            const STR_String& touchedpropname)

            : KX_NearSensor(
                eventmgr,
                gameobj,
                //DT_NewCone(coneradius,coneheight),
                margin,
                resetmargin,
                bFindMaterial,
                touchedpropname,
                physCtrl),

                m_coneradius(coneradius),
                m_coneheight(coneheight),
                m_axis(axis)
{
    m_client_info->m_type = KX_ClientObjectInfo::SENSOR;
    //m_client_info->m_clientobject = gameobj;
    //m_client_info->m_auxilary_info = NULL;
    //sumoObj->setClientObject(&m_client_info);
}
            
KX_RadarSensor::~KX_RadarSensor()
{
    
}

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

void KX_RadarSensor::SynchronizeTransform()
{
    // Getting the parent location was commented out. Why?
    MT_Transform trans;
    trans.setOrigin(((KX_GameObject*)GetParent())->NodeGetWorldPosition());
    trans.setBasis(((KX_GameObject*)GetParent())->NodeGetWorldOrientation());
    // What is the default orientation? pointing in the -y direction?
    // is the geometry correctly converted?

    // a collision cone is oriented
    // center the cone correctly 
    // depends on the radar 'axis'
    switch (m_axis)
    {
    case SENS_RADAR_X_AXIS: // +X Axis
        {
            MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
            trans.rotate(rotquatje);
            trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
            break;
        };
    case SENS_RADAR_Y_AXIS: // +Y Axis
        {
            MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
            trans.rotate(rotquatje);
            trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
            break;
        };
    case SENS_RADAR_Z_AXIS: // +Z Axis
        {
            MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-90));
            trans.rotate(rotquatje);
            trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
            break;
        };
    case SENS_RADAR_NEG_X_AXIS: // -X Axis
        {
            MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(-90));
            trans.rotate(rotquatje);
            trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
            break;
        };
    case SENS_RADAR_NEG_Y_AXIS: // -Y Axis
        {
            //MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
            //trans.rotate(rotquatje);
            trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
            break;
        };
    case SENS_RADAR_NEG_Z_AXIS: // -Z Axis
        {
            MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(90));
            trans.rotate(rotquatje);
            trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
            break;
        };
    default:
        {
        }
    }
    
    //Using a temp variable to translate MT_Point3 to float[3].
    //float[3] works better for the Python interface.
    MT_Point3 temp = trans.getOrigin();
    m_cone_origin[0] = temp[0];
    m_cone_origin[1] = temp[1];
    m_cone_origin[2] = temp[2];

    temp = trans(MT_Point3(0, -m_coneheight/2.0 ,0));
    m_cone_target[0] = temp[0];
    m_cone_target[1] = temp[1];
    m_cone_target[2] = temp[2];


    if (m_physCtrl)
    {
        PHY_IMotionState* motionState = m_physCtrl->GetMotionState();
        const MT_Point3& pos = trans.getOrigin();
        float ori[12];
        trans.getBasis().getValue(ori);
        motionState->setWorldPosition(pos[0], pos[1], pos[2]);
        motionState->setWorldOrientation(ori);
        m_physCtrl->WriteMotionStateToDynamics(true);
    }

}

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

#ifdef WITH_PYTHON

/* ------------------------------------------------------------------------- */
/* Python Integration Hooks                                                  */
/* ------------------------------------------------------------------------- */
PyTypeObject KX_RadarSensor::Type = {
    PyVarObject_HEAD_INIT(NULL, 0)
    "KX_RadarSensor",
    sizeof(PyObjectPlus_Proxy),
    0,
    py_base_dealloc,
    0,
    0,
    0,
    0,
    py_base_repr,
    0,0,0,0,0,0,0,0,0,
    Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
    0,0,0,0,0,0,0,
    Methods,
    0,
    0,
    &KX_NearSensor::Type,
    0,0,0,0,0,0,
    py_base_new
};

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

PyAttributeDef KX_RadarSensor::Attributes[] = {
    KX_PYATTRIBUTE_FLOAT_ARRAY_RO("coneOrigin", KX_RadarSensor, m_cone_origin, 3),
    KX_PYATTRIBUTE_FLOAT_ARRAY_RO("coneTarget", KX_RadarSensor, m_cone_target, 3),
    KX_PYATTRIBUTE_FLOAT_RO("distance", KX_RadarSensor, m_coneheight),
    KX_PYATTRIBUTE_FLOAT_RW("angle", 0, 360, KX_RadarSensor, m_coneradius),
    KX_PYATTRIBUTE_INT_RW("axis", 0, 5, true, KX_RadarSensor, m_axis),
    {NULL} //Sentinel
};

#endif // WITH_PYTHON