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Differential D2457 Diff 8102 source/gameengine/Ketsji/KX_ConstraintActuator.cpp

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source/gameengine/Ketsji/KX_ConstraintActuator.cpp

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#include "SCA_IActuator.h" #include "SCA_IActuator.h"
#include "KX_ConstraintActuator.h" #include "KX_ConstraintActuator.h"
#include "SCA_IObject.h" #include "SCA_IObject.h"
#include "MT_Point3.h" #include "MT_Vector3.h"
#include "MT_Matrix3x3.h" #include "MT_Matrix3x3.h"
#include "KX_GameObject.h" #include "KX_GameObject.h"
#include "KX_RayCast.h" #include "KX_RayCast.h"
#include "KX_PythonInit.h" // KX_GetActiveScene #include "KX_Globals.h" // KX_GetActiveScene
#include "RAS_MeshObject.h" #include "RAS_MeshObject.h"
#include <stdio.h> #include "CM_Message.h"
/* ------------------------------------------------------------------------- */ /* ------------------------------------------------------------------------- */
/* Native functions */ /* Native functions */
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MT_Scalar len = m_refDirVector.length(); MT_Scalar len = m_refDirVector.length();
if (MT_fuzzyZero(len)) { if (MT_fuzzyZero(len)) {
// missing a valid direction // missing a valid direction
std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no valid reference direction!" << std::endl; CM_LogicBrickWarning(this, "there is no valid reference direction!");
m_locrot = KX_ACT_CONSTRAINT_NODEF; m_locrot = KX_ACT_CONSTRAINT_NODEF;
} else { } else {
m_refDirection[0] /= len; m_refDirection[0] /= len;
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bool bFound = false; bool bFound = false;
if (m_property.IsEmpty()) if (m_property.empty())
{ {
bFound = true; bFound = true;
} }
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for (unsigned int i = 0; i < m_hitObject->GetMeshCount(); ++i) { for (unsigned int i = 0; i < m_hitObject->GetMeshCount(); ++i) {
RAS_MeshObject *meshObj = m_hitObject->GetMesh(i); RAS_MeshObject *meshObj = m_hitObject->GetMesh(i);
for (unsigned int j = 0; j < meshObj->NumMaterials(); ++j) { for (unsigned int j = 0; j < meshObj->NumMaterials(); ++j) {
bFound = strcmp(m_property.ReadPtr(), meshObj->GetMaterialName(j).ReadPtr() + 2) == 0; bFound = (m_property == std::string(meshObj->GetMaterialName(j), 2));
if (bFound) if (bFound)
break; break;
} }
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{ {
// Unknown type of object, skip it. // Unknown type of object, skip it.
// Should not occur as the sensor objects are filtered in RayTest() // Should not occur as the sensor objects are filtered in RayTest()
printf("Invalid client type %d found in ray casting\n", client->m_type); CM_LogicBrickError(this, "invalid client type " << client->m_type << " found in ray casting");
return false; return false;
} }
// no X-Ray function yet // no X-Ray function yet
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/* Having to retrieve location/rotation and setting it afterwards may not */ /* Having to retrieve location/rotation and setting it afterwards may not */
/* be efficient enough... Something to look at later. */ /* be efficient enough... Something to look at later. */
KX_GameObject *obj = (KX_GameObject*) GetParent(); KX_GameObject *obj = (KX_GameObject*) GetParent();
MT_Point3 position = obj->NodeGetWorldPosition(); MT_Vector3 position = obj->NodeGetWorldPosition();
MT_Point3 newposition; MT_Vector3 newposition;
MT_Vector3 normal, direction, refDirection; MT_Vector3 normal, direction, refDirection;
MT_Matrix3x3 rotation = obj->NodeGetWorldOrientation(); MT_Matrix3x3 rotation = obj->NodeGetWorldOrientation();
MT_Scalar filter, newdistance, cosangle; MT_Scalar filter, newdistance, cosangle;
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} }
} }
{ {
MT_Point3 topoint = position + (m_maximumBound) * direction; MT_Vector3 topoint = position + (m_maximumBound) * direction;
PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment(); PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment();
PHY_IPhysicsController *spc = obj->GetPhysicsController(); PHY_IPhysicsController *spc = obj->GetPhysicsController();
if (!pe) { if (!pe) {
std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no physics environment!" << std::endl; CM_LogicBrickWarning(this, "there is no physics environment!");
goto CHECK_TIME; goto CHECK_TIME;
} }
if (!spc) { if (!spc) {
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PHY_IPhysicsController *spc = obj->GetPhysicsController(); PHY_IPhysicsController *spc = obj->GetPhysicsController();
if (!pe) { if (!pe) {
std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no physics environment!" << std::endl; CM_LogicBrickWarning(this, "there is no physics environment!");
goto CHECK_TIME; goto CHECK_TIME;
} }
if (!spc || !spc->IsDynamic()) { if (!spc || !spc->IsDynamic()) {
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} }
m_hitObject = NULL; m_hitObject = NULL;
// distance of Fh area is stored in m_minimum // distance of Fh area is stored in m_minimum
MT_Point3 topoint = position + (m_minimumBound+spc->GetRadius()) * direction; MT_Vector3 topoint = position + (m_minimumBound+spc->GetRadius()) * direction;
KX_RayCast::Callback<KX_ConstraintActuator, void> callback(this, spc); KX_RayCast::Callback<KX_ConstraintActuator, void> callback(this, spc);
result = KX_RayCast::RayTest(pe, position, topoint, callback); result = KX_RayCast::RayTest(pe, position, topoint, callback);
// we expect a hit object // we expect a hit object
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// compute new position & orientation // compute new position & orientation
MT_Scalar distance = (callback.m_hitPoint-position).length()-spc->GetRadius(); MT_Scalar distance = (callback.m_hitPoint-position).length()-spc->GetRadius();
// estimate the velocity of the hit point // estimate the velocity of the hit point
MT_Point3 relativeHitPoint; MT_Vector3 relativeHitPoint;
relativeHitPoint = (callback.m_hitPoint-m_hitObject->NodeGetWorldPosition()); relativeHitPoint = (callback.m_hitPoint-m_hitObject->NodeGetWorldPosition());
MT_Vector3 velocityHitPoint = m_hitObject->GetVelocity(relativeHitPoint); MT_Vector3 velocityHitPoint = m_hitObject->GetVelocity(relativeHitPoint);
MT_Vector3 relativeVelocity = spc->GetLinearVelocity() - velocityHitPoint; MT_Vector3 relativeVelocity = spc->GetLinearVelocity() - velocityHitPoint;
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KX_PYATTRIBUTE_FLOAT_RW("max",-FLT_MAX,FLT_MAX,KX_ConstraintActuator,m_maximumBound), KX_PYATTRIBUTE_FLOAT_RW("max",-FLT_MAX,FLT_MAX,KX_ConstraintActuator,m_maximumBound),
KX_PYATTRIBUTE_FLOAT_RW("rayLength",0,2000.f,KX_ConstraintActuator,m_maximumBound), KX_PYATTRIBUTE_FLOAT_RW("rayLength",0,2000.f,KX_ConstraintActuator,m_maximumBound),
KX_PYATTRIBUTE_INT_RW("limit",KX_ConstraintActuator::KX_ACT_CONSTRAINT_NODEF+1,KX_ConstraintActuator::KX_ACT_CONSTRAINT_MAX-1,false,KX_ConstraintActuator,m_locrot), KX_PYATTRIBUTE_INT_RW("limit",KX_ConstraintActuator::KX_ACT_CONSTRAINT_NODEF+1,KX_ConstraintActuator::KX_ACT_CONSTRAINT_MAX-1,false,KX_ConstraintActuator,m_locrot),
{ NULL } //Sentinel KX_PYATTRIBUTE_NULL //Sentinel
}; };
int KX_ConstraintActuator::pyattr_check_direction(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef) int KX_ConstraintActuator::pyattr_check_direction(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
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