297 lines
8.2 KiB
C++
297 lines
8.2 KiB
C++
/**
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* $Id$
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#include "KX_RadarSensor.h"
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#include "KX_GameObject.h"
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#include "KX_PyMath.h"
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#include "PHY_IPhysicsController.h"
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#include "PHY_IMotionState.h"
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#ifdef HAVE_CONFIG_H
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#include <config.h>
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#endif
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/**
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* RadarSensor constructor. Creates a near-sensor derived class, with a cone collision shape.
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*/
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KX_RadarSensor::KX_RadarSensor(SCA_EventManager* eventmgr,
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KX_GameObject* gameobj,
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PHY_IPhysicsController* physCtrl,
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double coneradius,
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double coneheight,
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int axis,
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double margin,
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double resetmargin,
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bool bFindMaterial,
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const STR_String& touchedpropname,
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PyTypeObject* T)
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: KX_NearSensor(
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eventmgr,
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gameobj,
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//DT_NewCone(coneradius,coneheight),
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margin,
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resetmargin,
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bFindMaterial,
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touchedpropname,
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physCtrl,
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T),
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m_coneradius(coneradius),
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m_coneheight(coneheight),
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m_axis(axis)
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{
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m_client_info->m_type = KX_ClientObjectInfo::SENSOR;
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//m_client_info->m_clientobject = gameobj;
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//m_client_info->m_auxilary_info = NULL;
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//sumoObj->setClientObject(&m_client_info);
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}
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KX_RadarSensor::~KX_RadarSensor()
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{
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}
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CValue* KX_RadarSensor::GetReplica()
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{
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KX_RadarSensor* replica = new KX_RadarSensor(*this);
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replica->ProcessReplica();
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return replica;
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}
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/**
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* Transforms the collision object. A cone is not correctly centered
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* for usage. */
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void KX_RadarSensor::SynchronizeTransform()
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{
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// Getting the parent location was commented out. Why?
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MT_Transform trans;
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trans.setOrigin(((KX_GameObject*)GetParent())->NodeGetWorldPosition());
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trans.setBasis(((KX_GameObject*)GetParent())->NodeGetWorldOrientation());
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// What is the default orientation? pointing in the -y direction?
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// is the geometry correctly converted?
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// a collision cone is oriented
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// center the cone correctly
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// depends on the radar 'axis'
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switch (m_axis)
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{
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case 0: // +X Axis
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{
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MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
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trans.rotate(rotquatje);
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trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
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break;
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};
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case 1: // +Y Axis
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{
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MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
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trans.rotate(rotquatje);
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trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
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break;
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};
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case 2: // +Z Axis
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{
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MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-90));
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trans.rotate(rotquatje);
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trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
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break;
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};
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case 3: // -X Axis
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{
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MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(-90));
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trans.rotate(rotquatje);
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trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
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break;
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};
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case 4: // -Y Axis
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{
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//MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
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//trans.rotate(rotquatje);
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trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
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break;
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};
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case 5: // -Z Axis
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{
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MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(90));
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trans.rotate(rotquatje);
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trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
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break;
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};
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default:
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{
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}
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}
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//Using a temp variable to translate MT_Point3 to float[3].
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//float[3] works better for the Python interface.
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MT_Point3 temp = trans.getOrigin();
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m_cone_origin[0] = temp[0];
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m_cone_origin[1] = temp[1];
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m_cone_origin[2] = temp[2];
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temp = trans(MT_Point3(0, -m_coneheight/2.0 ,0));
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m_cone_target[0] = temp[0];
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m_cone_target[1] = temp[1];
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m_cone_target[2] = temp[2];
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if (m_physCtrl)
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{
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PHY_IMotionState* motionState = m_physCtrl->GetMotionState();
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const MT_Point3& pos = trans.getOrigin();
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float ori[12];
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trans.getBasis().getValue(ori);
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motionState->setWorldPosition(pos[0], pos[1], pos[2]);
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motionState->setWorldOrientation(ori);
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m_physCtrl->WriteMotionStateToDynamics(true);
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}
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}
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/* ------------------------------------------------------------------------- */
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/* Python Functions */
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/* ------------------------------------------------------------------------- */
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//Deprecated ----->
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/* getConeOrigin */
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const char KX_RadarSensor::GetConeOrigin_doc[] =
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"getConeOrigin()\n"
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"\tReturns the origin of the cone with which to test. The origin\n"
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"\tis in the middle of the cone.";
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PyObject* KX_RadarSensor::PyGetConeOrigin() {
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ShowDeprecationWarning("getConeOrigin()", "the coneOrigin property");
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PyObject *retVal = PyList_New(3);
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PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_cone_origin[0]));
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PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_cone_origin[1]));
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PyList_SET_ITEM(retVal, 2, PyFloat_FromDouble(m_cone_origin[2]));
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return retVal;
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}
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/* getConeOrigin */
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const char KX_RadarSensor::GetConeTarget_doc[] =
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"getConeTarget()\n"
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"\tReturns the center of the bottom face of the cone with which to test.\n";
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PyObject* KX_RadarSensor::PyGetConeTarget() {
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ShowDeprecationWarning("getConeTarget()", "the coneTarget property");
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PyObject *retVal = PyList_New(3);
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PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_cone_target[0]));
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PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_cone_target[1]));
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PyList_SET_ITEM(retVal, 2, PyFloat_FromDouble(m_cone_target[2]));
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return retVal;
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}
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/* getConeHeight */
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const char KX_RadarSensor::GetConeHeight_doc[] =
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"getConeHeight()\n"
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"\tReturns the height of the cone with which to test.\n";
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PyObject* KX_RadarSensor::PyGetConeHeight() {
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ShowDeprecationWarning("getConeHeight()", "the distance property");
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return PyFloat_FromDouble(m_coneheight);
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}
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//<----- Deprecated
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/* ------------------------------------------------------------------------- */
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/* Python Integration Hooks */
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/* ------------------------------------------------------------------------- */
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PyTypeObject KX_RadarSensor::Type = {
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#if (PY_VERSION_HEX >= 0x02060000)
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PyVarObject_HEAD_INIT(NULL, 0)
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#else
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/* python 2.5 and below */
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PyObject_HEAD_INIT( NULL ) /* required py macro */
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0, /* ob_size */
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#endif
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"KX_RadarSensor",
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sizeof(PyObjectPlus_Proxy),
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0,
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py_base_dealloc,
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0,
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0,
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0,
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0,
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py_base_repr,
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0,0,0,0,0,0,
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py_base_getattro,
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py_base_setattro,
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0,0,0,0,0,0,0,0,0,
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Methods
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};
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PyParentObject KX_RadarSensor::Parents[] = {
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&KX_RadarSensor::Type,
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&KX_NearSensor::Type,
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&KX_TouchSensor::Type,
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&SCA_ISensor::Type,
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&SCA_ILogicBrick::Type,
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&CValue::Type,
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NULL
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};
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PyMethodDef KX_RadarSensor::Methods[] = {
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//Deprecated ----->
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{"getConeOrigin", (PyCFunction) KX_RadarSensor::sPyGetConeOrigin,
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METH_VARARGS, (PY_METHODCHAR)GetConeOrigin_doc},
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{"getConeTarget", (PyCFunction) KX_RadarSensor::sPyGetConeTarget,
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METH_VARARGS, (PY_METHODCHAR)GetConeTarget_doc},
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{"getConeHeight", (PyCFunction) KX_RadarSensor::sPyGetConeHeight,
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METH_VARARGS, (PY_METHODCHAR)GetConeHeight_doc},
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//<-----
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{NULL} //Sentinel
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};
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PyAttributeDef KX_RadarSensor::Attributes[] = {
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KX_PYATTRIBUTE_FLOAT_ARRAY_RO("coneOrigin", KX_RadarSensor, m_cone_origin, 3),
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KX_PYATTRIBUTE_FLOAT_ARRAY_RO("coneTarget", KX_RadarSensor, m_cone_target, 3),
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KX_PYATTRIBUTE_FLOAT_RO("distance", KX_RadarSensor, m_coneheight),
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KX_PYATTRIBUTE_FLOAT_RW("angle", 0, 360, KX_RadarSensor, m_coneradius),
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KX_PYATTRIBUTE_INT_RW("axis", 0, 5, true, KX_RadarSensor, m_axis),
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{NULL} //Sentinel
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};
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PyObject* KX_RadarSensor::py_getattro(PyObject *attr)
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{
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py_getattro_up(KX_NearSensor);
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}
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PyObject* KX_RadarSensor::py_getattro_dict() {
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py_getattro_dict_up(KX_NearSensor);
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}
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int KX_RadarSensor::py_setattro(PyObject *attr, PyObject* value)
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{
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py_setattro_up(KX_NearSensor);
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}
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