KX_CameraActuator.cpp

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/*
 * KX_CameraActuator.cpp
 *
 *
 * ***** 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_CameraActuator.h"
#include <iostream>
#include <math.h>
#include <float.h>
#include "KX_GameObject.h"

#include "PyObjectPlus.h" 


/* ------------------------------------------------------------------------- */
/* Native functions                                                          */
/* ------------------------------------------------------------------------- */

KX_CameraActuator::KX_CameraActuator(
    SCA_IObject* gameobj, 
    SCA_IObject *obj,
    float hght,
    float minhght,
    float maxhght,
    short axis,
    float damping
): 
    SCA_IActuator(gameobj, KX_ACT_CAMERA),
    m_ob (obj),
    m_height (hght),
    m_minHeight (minhght),
    m_maxHeight (maxhght),
    m_axis(axis),
    m_damping (damping)
{
    if (m_ob)
        m_ob->RegisterActuator(this);
}

KX_CameraActuator::~KX_CameraActuator()
{
    if (m_ob)
        m_ob->UnregisterActuator(this);
}

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

void KX_CameraActuator::ProcessReplica()
{
    if (m_ob)
        m_ob->RegisterActuator(this);
    SCA_IActuator::ProcessReplica();
}

bool KX_CameraActuator::UnlinkObject(SCA_IObject* clientobj)
{
    if (clientobj == m_ob)
    {
        // this object is being deleted, we cannot continue to track it.
        m_ob = NULL;
        return true;
    }
    return false;
}


void KX_CameraActuator::Relink(CTR_Map<CTR_HashedPtr, void*> *obj_map)
{
    void **h_obj = (*obj_map)[m_ob];
    if (h_obj) {
        if (m_ob)
            m_ob->UnregisterActuator(this);
        m_ob = (SCA_IObject*)(*h_obj);
        m_ob->RegisterActuator(this);
    }
}

/* three functions copied from blender arith... don't know if there's an equivalent */

static float Kx_Normalize(float *n)
{
    float d;
    
    d= n[0]*n[0]+n[1]*n[1]+n[2]*n[2];
    /* FLT_EPSILON is too large! A larger value causes normalize errors in a scaled down utah teapot */
    if(d>0.0000000000001) {
        d= sqrt(d);

        n[0]/=d; 
        n[1]/=d; 
        n[2]/=d;
    } else {
        n[0]=n[1]=n[2]= 0.0;
        d= 0.0;
    }
    return d;
}

static void Kx_Crossf(float *c, float *a, float *b)
{
    c[0] = a[1] * b[2] - a[2] * b[1];
    c[1] = a[2] * b[0] - a[0] * b[2];
    c[2] = a[0] * b[1] - a[1] * b[0];
}


static void Kx_VecUpMat3(float *vec, float mat[][3], short axis)
{

    // Construct a camera matrix s.t. the specified axis

    // maps to the given vector (*vec). Also defines the rotation

    // about this axis by mapping one of the other axis to the y-axis.


    float inp;
    short cox = 0, coy = 0, coz = 0;
    
    /* up varieeren heeft geen zin, is eigenlijk helemaal geen up!
     * zie VecUpMat3old
     */

    if(axis==0) {
        cox= 0; coy= 1; coz= 2;     /* Y up Z tr */
    }
    if(axis==1) {
        cox= 1; coy= 2; coz= 0;     /* Z up X tr */
    }
    if(axis==2) {
        cox= 2; coy= 0; coz= 1;     /* X up Y tr */
    }
    if(axis==3) {
        cox= 0; coy= 1; coz= 2;     /* Y op -Z tr */
        vec[0]= -vec[0];
        vec[1]= -vec[1];
        vec[2]= -vec[2];
    }
    if(axis==4) {
        cox= 1; coy= 0; coz= 2;     /*  */
    }
    if(axis==5) {
        cox= 2; coy= 1; coz= 0;     /* Y up X tr */
    }

    mat[coz][0]= vec[0];
    mat[coz][1]= vec[1];
    mat[coz][2]= vec[2];
    if (Kx_Normalize((float *)mat[coz]) == 0.f) {
        /* this is a very abnormal situation: the camera has reach the object center exactly
           We will choose a completely arbitrary direction */
        mat[coz][0] = 1.0f;
        mat[coz][1] = 0.0f;
        mat[coz][2] = 0.0f;
    }
    
    inp= mat[coz][2];
    mat[coy][0]= - inp*mat[coz][0];
    mat[coy][1]= - inp*mat[coz][1];
    mat[coy][2]= 1.0 - inp*mat[coz][2];

    if (Kx_Normalize((float *)mat[coy]) == 0.f) {
        /* the camera is vertical, chose the y axis arbitrary */
        mat[coy][0] = 0.f;
        mat[coy][1] = 1.f;
        mat[coy][2] = 0.f;
    }
    
    Kx_Crossf(mat[cox], mat[coy], mat[coz]);
    
}

bool KX_CameraActuator::Update(double curtime, bool frame)
{
    /* wondering... is it really neccesary/desirable to suppress negative    */
    /* events here?                                                          */
    bool bNegativeEvent = IsNegativeEvent();
    RemoveAllEvents();

    if (bNegativeEvent || !m_ob) 
        return false;
    
    KX_GameObject *obj = (KX_GameObject*) GetParent();
    MT_Point3 from = obj->NodeGetWorldPosition();
    MT_Matrix3x3 frommat = obj->NodeGetWorldOrientation();
    /* These casts are _very_ dangerous!!! */
    MT_Point3 lookat = ((KX_GameObject*)m_ob)->NodeGetWorldPosition();
    MT_Matrix3x3 actormat = ((KX_GameObject*)m_ob)->NodeGetWorldOrientation();

    float fp1[3], fp2[3], rc[3];
    float inp, fac; //, factor = 0.0; /* some factor...                                    */
    float mindistsq, maxdistsq, distsq;
    float mat[3][3];
    
    /* The rules:                                                            */
    /* CONSTRAINT 1: not implemented */
    /* CONSTRAINT 2: can camera see actor?              */
    /* CONSTRAINT 3: fixed height relative to floor below actor.             */
    /* CONSTRAINT 4: camera rotates behind actor                              */
    /* CONSTRAINT 5: minimum / maximum distance                             */
    /* CONSTRAINT 6: again: fixed height relative to floor below actor        */
    /* CONSTRAINT 7: track to floor below actor                               */
    /* CONSTRAINT 8: look a little bit left or right, depending on how the

       character is looking (horizontal x)
 */

    /* ...and then set the camera position. Since we assume the parent of    */
    /* this actuator is always a camera, just set the parent position and    */
    /* rotation. We do not check whether we really have a camera as parent.  */
    /* It may be better to turn this into a general tracking actuator later  */
    /* on, since lots of plausible relations can be filled in here.          */

    /* ... set up some parameters ...                                        */
    /* missing here: the 'floorloc' of the actor's shadow */

    mindistsq= m_minHeight*m_minHeight;
    maxdistsq= m_maxHeight*m_maxHeight;

    /* C1: not checked... is a future option                                 */

    /* C2: blender test_visibility function. Can this be a ray-test?         */

    /* C3: fixed height  */
    from[2] = (15.0*from[2] + lookat[2] + m_height)/16.0;


    /* C4: camera behind actor   */
    switch (m_axis) {
        case OB_POSX:
            /* X */
            fp1[0] = actormat[0][0];
            fp1[1] = actormat[1][0];
            fp1[2] = actormat[2][0];

            fp2[0] = frommat[0][0];
            fp2[1] = frommat[1][0];
            fp2[2] = frommat[2][0];
            break;
        case OB_POSY:
            /* Y */
            fp1[0] = actormat[0][1];
            fp1[1] = actormat[1][1];
            fp1[2] = actormat[2][1];

            fp2[0] = frommat[0][1];
            fp2[1] = frommat[1][1];
            fp2[2] = frommat[2][1];
            break;
        case OB_NEGX:
            /* -X */
            fp1[0] = -actormat[0][0];
            fp1[1] = -actormat[1][0];
            fp1[2] = -actormat[2][0];

            fp2[0] = frommat[0][0];
            fp2[1] = frommat[1][0];
            fp2[2] = frommat[2][0];
            break;
        case OB_NEGY:
            /* -Y */
            fp1[0] = -actormat[0][1];
            fp1[1] = -actormat[1][1];
            fp1[2] = -actormat[2][1];

            fp2[0] = frommat[0][1];
            fp2[1] = frommat[1][1];
            fp2[2] = frommat[2][1];
            break;
        default:
            assert(0);
            break;
    }
    
    inp= fp1[0]*fp2[0] + fp1[1]*fp2[1] + fp1[2]*fp2[2];
    fac= (-1.0 + inp) * m_damping;

    from[0]+= fac*fp1[0];
    from[1]+= fac*fp1[1];
    from[2]+= fac*fp1[2];
    
    /* alleen alstie ervoor ligt: cross testen en loodrechte bijtellen */
    if(inp<0.0) {
        if(fp1[0]*fp2[1] - fp1[1]*fp2[0] > 0.0) {
            from[0]-= fac*fp1[1];
            from[1]+= fac*fp1[0];
        }
        else {
            from[0]+= fac*fp1[1];
            from[1]-= fac*fp1[0];
        }
    }

    /* CONSTRAINT 5: minimum / maximum afstand */

    rc[0]= (lookat[0]-from[0]);
    rc[1]= (lookat[1]-from[1]);
    rc[2]= (lookat[2]-from[2]);
    distsq= rc[0]*rc[0] + rc[1]*rc[1] + rc[2]*rc[2];

    if(distsq > maxdistsq) {
        distsq = 0.15*(distsq-maxdistsq)/distsq;
        
        from[0] += distsq*rc[0];
        from[1] += distsq*rc[1];
        from[2] += distsq*rc[2];
    }
    else if(distsq < mindistsq) {
        distsq = 0.15*(mindistsq-distsq)/mindistsq;
        
        from[0] -= distsq*rc[0];
        from[1] -= distsq*rc[1];
        from[2] -= distsq*rc[2];
    }


    /* CONSTRAINT 7: track to schaduw */
    rc[0]= (lookat[0]-from[0]);
    rc[1]= (lookat[1]-from[1]);
    rc[2]= (lookat[2]-from[2]);
    Kx_VecUpMat3(rc, mat, 3);   /* y up Track -z */
    



    /* now set the camera position and rotation */
    
    obj->NodeSetLocalPosition(from);
    
    actormat[0][0]= mat[0][0]; actormat[0][1]= mat[1][0]; actormat[0][2]= mat[2][0];
    actormat[1][0]= mat[0][1]; actormat[1][1]= mat[1][1]; actormat[1][2]= mat[2][1];
    actormat[2][0]= mat[0][2]; actormat[2][1]= mat[1][2]; actormat[2][2]= mat[2][2];
    obj->NodeSetLocalOrientation(actormat);

    return true;
}

CValue *KX_CameraActuator::findObject(const char *obName)
{
    /* hook to object system */
    return NULL;
}

#ifdef WITH_PYTHON

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

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

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

PyAttributeDef KX_CameraActuator::Attributes[] = {
    KX_PYATTRIBUTE_FLOAT_RW("min",-FLT_MAX,FLT_MAX,KX_CameraActuator,m_minHeight),
    KX_PYATTRIBUTE_FLOAT_RW("max",-FLT_MAX,FLT_MAX,KX_CameraActuator,m_maxHeight),
    KX_PYATTRIBUTE_FLOAT_RW("height",-FLT_MAX,FLT_MAX,KX_CameraActuator,m_height),
    KX_PYATTRIBUTE_SHORT_RW("axis", 0, 3, true, KX_CameraActuator,m_axis),
    KX_PYATTRIBUTE_RW_FUNCTION("object", KX_CameraActuator, pyattr_get_object,  pyattr_set_object),
    KX_PYATTRIBUTE_FLOAT_RW("damping",0.f,10.f,KX_CameraActuator,m_damping),
    {NULL}
};

PyObject* KX_CameraActuator::pyattr_get_object(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
    KX_CameraActuator* self= static_cast<KX_CameraActuator*>(self_v);
    if (self->m_ob==NULL)
        Py_RETURN_NONE;
    else
        return self->m_ob->GetProxy();
}

int KX_CameraActuator::pyattr_set_object(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
    KX_CameraActuator* self= static_cast<KX_CameraActuator*>(self_v);
    KX_GameObject *gameobj;
    
    if (!ConvertPythonToGameObject(value, &gameobj, true, "actuator.object = value: KX_CameraActuator"))
        return PY_SET_ATTR_FAIL; // ConvertPythonToGameObject sets the error
    
    if (self->m_ob)
        self->m_ob->UnregisterActuator(self);   

    if ((self->m_ob = (SCA_IObject*)gameobj))
        self->m_ob->RegisterActuator(self);
    
    return PY_SET_ATTR_SUCCESS;
}

#endif // WITH_PYTHON

/* eof */