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more vehicle preparation and some bullet collision detection bugfixes (related to collision margin)

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This commit is contained in:
Erwin Coumans
2006-02-13 06:28:35 +00:00
parent e4790aef46
commit f55e45f855
14 changed files with 601 additions and 104 deletions
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150
source/gameengine/Ketsji/KX_VehicleWrapper.cpp
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@@ -4,6 +4,9 @@
#include "KX_VehicleWrapper.h"
#include "PHY_IPhysicsEnvironment.h"
#include "PHY_IVehicle.h"
#include "KX_PyMath.h"
#include "KX_GameObject.h"
#include "KX_MotionState.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
@@ -20,6 +23,13 @@ KX_VehicleWrapper::KX_VehicleWrapper(
KX_VehicleWrapper::~KX_VehicleWrapper()
{
int numMotion = m_motionStates.size();
for (int i=0;i<numMotion;i++)
{
PHY_IMotionState* motionState = m_motionStates[i];
delete motionState;
}
m_motionStates.clear();
}
@@ -27,18 +37,92 @@ PyObject* KX_VehicleWrapper::PyAddWheel(PyObject* self,
PyObject* args,
PyObject* kwds)
{
PyObject* pylistPos,*pylistDir,*pylistAxleDir;
PyObject* wheelGameObject;
float suspensionRestLength,wheelRadius;
int hasSteering;
if (PyArg_ParseTuple(args,"OOOOffi",&wheelGameObject,&pylistPos,&pylistDir,&pylistAxleDir,&suspensionRestLength,&wheelRadius,&hasSteering))
{
KX_GameObject* gameOb = (KX_GameObject*) wheelGameObject;
PHY_IMotionState* motionState = new KX_MotionState(gameOb->GetSGNode());
MT_Vector3 attachPos,attachDir,attachAxle;
PyVecTo(pylistPos,attachPos);
PyVecTo(pylistDir,attachDir);
PyVecTo(pylistAxleDir,attachAxle);
PHY__Vector3 aPos,aDir,aAxle;
aPos[0] = attachPos[0];
aPos[1] = attachPos[1];
aPos[2] = attachPos[2];
aDir[0] = attachDir[0];
aDir[1] = attachDir[1];
aDir[2] = attachDir[2];
aAxle[0] = attachAxle[0];
aAxle[1] = attachAxle[1];
aAxle[2] = attachAxle[2];
printf("attempt for addWheel: suspensionRestLength%f wheelRadius %f, hasSteering:%d\n",suspensionRestLength,wheelRadius,hasSteering);
m_vehicle->AddWheel(motionState,aPos,aDir,aAxle,suspensionRestLength,wheelRadius,hasSteering);
}
Py_INCREF(Py_None);
return Py_None;
}
PyObject* KX_VehicleWrapper::PyGetWheelsTransform(PyObject* self,
PyObject* KX_VehicleWrapper::PyGetWheelPosition(PyObject* self,
PyObject* args,
PyObject* kwds)
{
assert(0);
return PyInt_FromLong(m_vehicle->GetNumWheels());
int wheelIndex;
if (PyArg_ParseTuple(args,"i",&wheelIndex))
{
float position[3];
m_vehicle->GetWheelPosition(wheelIndex,position[0],position[1],position[2]);
MT_Vector3 pos(position[0],position[1],position[2]);
return PyObjectFrom(pos);
}
Py_INCREF(Py_None);
return Py_None;
}
PyObject* KX_VehicleWrapper::PyGetWheelRotation(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int wheelIndex;
if (PyArg_ParseTuple(args,"i",&wheelIndex))
{
return PyFloat_FromDouble(m_vehicle->GetWheelRotation(wheelIndex));
}
Py_INCREF(Py_None);
return Py_None;
}
PyObject* KX_VehicleWrapper::PyGetWheelOrientationQuaternion(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int wheelIndex;
if (PyArg_ParseTuple(args,"i",&wheelIndex))
{
float orn[4];
m_vehicle->GetWheelOrientationQuaternion(wheelIndex,orn[0],orn[1],orn[2],orn[3]);
MT_Quaternion quatorn(orn[0],orn[1],orn[2],orn[3]);
MT_Matrix3x3 ornmat(quatorn);
return PyObjectFrom(ornmat);
}
Py_INCREF(Py_None);
return Py_None;
}
@@ -57,6 +141,58 @@ PyObject* KX_VehicleWrapper::PyGetConstraintId(PyObject* self,
return PyInt_FromLong(m_vehicle->GetUserConstraintId());
}
PyObject* KX_VehicleWrapper::PyApplyEngineForce(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float force;
int wheelIndex;
if (PyArg_ParseTuple(args,"fi",&force,&wheelIndex))
{
m_vehicle->ApplyEngineForce(force,wheelIndex);
}
Py_INCREF(Py_None);
return Py_None;
}
PyObject* KX_VehicleWrapper::PyApplyBraking(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float braking;
int wheelIndex;
if (PyArg_ParseTuple(args,"fi",&braking,&wheelIndex))
{
m_vehicle->ApplyBraking(braking,wheelIndex);
}
Py_INCREF(Py_None);
return Py_None;
}
PyObject* KX_VehicleWrapper::PySetSteeringValue(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float steeringValue;
int wheelIndex;
if (PyArg_ParseTuple(args,"fi",&steeringValue,&wheelIndex))
{
m_vehicle->SetSteeringValue(steeringValue,wheelIndex);
}
Py_INCREF(Py_None);
return Py_None;
}
PyObject* KX_VehicleWrapper::PyGetConstraintType(PyObject* self,
PyObject* args,
PyObject* kwds)
@@ -67,6 +203,7 @@ PyObject* KX_VehicleWrapper::PyGetConstraintType(PyObject* self,
//python specific stuff
PyTypeObject KX_VehicleWrapper::Type = {
PyObject_HEAD_INIT(&PyType_Type)
@@ -130,9 +267,14 @@ int KX_VehicleWrapper::_setattr(const STR_String& attr,PyObject* pyobj)
PyMethodDef KX_VehicleWrapper::Methods[] = {
{"addWheel",(PyCFunction) KX_VehicleWrapper::sPyAddWheel, METH_VARARGS},
{"getNumWheels",(PyCFunction) KX_VehicleWrapper::sPyGetNumWheels, METH_VARARGS},
{"getWheelsTransform",(PyCFunction) KX_VehicleWrapper::sPyGetWheelsTransform, METH_VARARGS},
{"getWheelOrientationQuaternion",(PyCFunction) KX_VehicleWrapper::sPyGetWheelOrientationQuaternion, METH_VARARGS},
{"getWheelRotation",(PyCFunction) KX_VehicleWrapper::sPyGetWheelRotation, METH_VARARGS},
{"getWheelPosition",(PyCFunction) KX_VehicleWrapper::sPyGetWheelPosition, METH_VARARGS},
{"getConstraintId",(PyCFunction) KX_VehicleWrapper::sPyGetConstraintId, METH_VARARGS},
{"getConstraintType",(PyCFunction) KX_VehicleWrapper::sPyGetConstraintType, METH_VARARGS},
{"setSteeringValue",(PyCFunction) KX_VehicleWrapper::sPySetSteeringValue, METH_VARARGS},
{"applyEngineForce",(PyCFunction) KX_VehicleWrapper::sPyApplyEngineForce, METH_VARARGS},
{"applyBraking",(PyCFunction) KX_VehicleWrapper::sPyApplyBraking, METH_VARARGS},
{NULL,NULL} //Sentinel
};