KX_NearSensor.cpp

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/*
 * Sense if other objects are near
 *
 *
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
 * All rights reserved.
 *
 * The Original Code is: all of this file.
 *
 * Contributor(s): none yet.
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#include "KX_NearSensor.h"
#include "SCA_LogicManager.h"
#include "KX_GameObject.h"
#include "KX_TouchEventManager.h"
#include "KX_Scene.h" // needed to create a replica
#include "PHY_IPhysicsEnvironment.h"
#include "PHY_IPhysicsController.h"
#include "PHY_IMotionState.h"

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

{

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

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

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

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

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



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

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

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

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

    return result;
}

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

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

    return false;
}

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

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

#ifdef WITH_PYTHON

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

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

PyTypeObject KX_NearSensor::Type = {
    PyVarObject_HEAD_INIT(NULL, 0)
    "KX_NearSensor",
    sizeof(PyObjectPlus_Proxy),
    0,
    py_base_dealloc,
    0,
    0,
    0,
    0,
    py_base_repr,
    0,0,0,0,0,0,0,0,0,
    Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
    0,0,0,0,0,0,0,
    Methods,
    0,
    0,
    &KX_TouchSensor::Type,
    0,0,0,0,0,0,
    py_base_new
};

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

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

#endif // WITH_PYTHON