C++ KX_GameObject::GetPhysicsController方法代码示例

SG_Controller*	KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
{
	PHY_IMotionState* motionstate = new KX_MotionState(destnode);

	KX_BulletPhysicsController* physicsreplica = new KX_BulletPhysicsController(*this);

	//parentcontroller is here be able to avoid collisions between parent/child

	PHY_IPhysicsController* parentctrl = NULL;
	KX_BulletPhysicsController* parentKxCtrl = NULL;
	CcdPhysicsController* ccdParent = NULL;

	
	if (destnode != destnode->GetRootSGParent())
	{
		KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
		if (clientgameobj)
		{
			parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
		} else
		{
			// it could be a false node, try the children
			NodeList::const_iterator childit;
			for (
				childit = destnode->GetSGChildren().begin();
			childit!= destnode->GetSGChildren().end();
			++childit
				) {
				KX_GameObject *clientgameobj_child = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
				if (clientgameobj_child)
				{
					parentKxCtrl = (KX_BulletPhysicsController*)clientgameobj_child->GetPhysicsController();
					parentctrl = parentKxCtrl;
					ccdParent = parentKxCtrl;
				}
			}
		}
	}

	physicsreplica->setParentCtrl(ccdParent);
	physicsreplica->PostProcessReplica(motionstate,parentctrl);
	physicsreplica->m_userdata = (PHY_IPhysicsController*)physicsreplica;
	physicsreplica->m_bulletChildShape = NULL;
	return physicsreplica;
	
}

bool KX_SCA_DynamicActuator::Update()
{
	// bool result = false;	/*unused*/
	KX_GameObject *obj = (KX_GameObject*) GetParent();
	bool bNegativeEvent = IsNegativeEvent();
	PHY_IPhysicsController* controller;
	RemoveAllEvents();

	if (bNegativeEvent)
		return false; // do nothing on negative events
	
	if (!obj)
		return false; // object not accessible, shouldnt happen
	controller = obj->GetPhysicsController();
	if (!controller)
		return false;	// no physic object

	switch (m_dyn_operation)
	{
		case 0:
			// Child objects must be static, so we block changing to dynamic
			if (!obj->GetParent())
				controller->RestoreDynamics();
			break;
		case 1:
			controller->SuspendDynamics();
			break;
		case 2:
			controller->SetRigidBody(true);
			break;
		case 3:
			controller->SetRigidBody(false);
			break;
		case 4:
			controller->SetMass(m_setmass);
			break;
	}

	return false;
}

//.........这里部分代码省略.........
			}
			if (m_bitLocalFlag.DLoc) 
			{
				if (m_force[1] > m_dloc[1])
				{
					m_force[1] = m_dloc[1];
					I[1] = m_error_accumulator[1];
				} else if (m_force[1] < m_drot[1])
				{
					m_force[1] = m_drot[1];
					I[1] = m_error_accumulator[1];
				}
			}
			if (m_bitLocalFlag.DRot) 
			{
				if (m_force[2] > m_dloc[2])
				{
					m_force[2] = m_dloc[2];
					I[2] = m_error_accumulator[2];
				} else if (m_force[2] < m_drot[2])
				{
					m_force[2] = m_drot[2];
					I[2] = m_error_accumulator[2];
				}
			}
			m_previous_error = e;
			m_error_accumulator = I;
			parent->ApplyForce(m_force,(m_bitLocalFlag.LinearVelocity) != 0);
		}
		else if (m_bitLocalFlag.CharacterMotion) {
			MT_Vector3 dir = m_dloc;

			if (m_bitLocalFlag.DLoc) {
				MT_Matrix3x3 basis = parent->GetPhysicsController()->GetOrientation();
				dir = basis * dir;
			}

			if (m_bitLocalFlag.AddOrSetCharLoc) {
				MT_Vector3 old_dir = character->GetWalkDirection();

				if (!old_dir.fuzzyZero()) {
					MT_Scalar mag = old_dir.length();

					dir = dir + old_dir;
					if (!dir.fuzzyZero())
						dir = dir.normalized() * mag;
				}
			}

			// We always want to set the walk direction since a walk direction of (0, 0, 0) should stop the character
			character->SetWalkDirection(dir/parent->GetScene()->GetPhysicsEnvironment()->GetNumTimeSubSteps());

			if (!m_bitLocalFlag.ZeroDRot)
			{
				parent->ApplyRotation(m_drot,(m_bitLocalFlag.DRot) != 0);
			}

			if (m_bitLocalFlag.CharacterJump) {
				if (!m_jumping) {
					character->Jump();
					m_jumping = true;
				}
				else if (character->OnGround())
					m_jumping = false;
			}
		}

//.........这里部分代码省略.........
				axis = 2;
				sign = 1;
				break;
			}
			normal.normalize();
			if (m_option & KX_ACT_CONSTRAINT_LOCAL) {
				// direction of the ray is along the local axis
				direction = normal;
			} else {
				switch (m_locrot) {
				case KX_ACT_CONSTRAINT_DIRPX:
					direction = MT_Vector3(1.0f,0.0f,0.0f);
					break;
				case KX_ACT_CONSTRAINT_DIRPY:
					direction = MT_Vector3(0.0f,1.0f,0.0f);
					break;
				case KX_ACT_CONSTRAINT_DIRPZ:
					direction = MT_Vector3(0.0f,0.0f,1.0f);
					break;
				case KX_ACT_CONSTRAINT_DIRNX:
					direction = MT_Vector3(-1.0f,0.0f,0.0f);
					break;
				case KX_ACT_CONSTRAINT_DIRNY:
					direction = MT_Vector3(0.0f,-1.0f,0.0f);
					break;
				case KX_ACT_CONSTRAINT_DIRNZ:
					direction = MT_Vector3(0.0f,0.0f,-1.0f);
					break;
				}
			}
			{
				MT_Vector3 topoint = position + (m_maximumBound) * direction;
				PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment();
				PHY_IPhysicsController *spc = obj->GetPhysicsController();

				if (!pe) {
					CM_LogicBrickWarning(this, "there is no physics environment!");
					goto CHECK_TIME;
				}	 
				if (!spc) {
					// the object is not physical, we probably want to avoid hitting its own parent
					KX_GameObject *parent = obj->GetParent();
					if (parent) {
						spc = parent->GetPhysicsController();
					}
				}
				KX_RayCast::Callback<KX_ConstraintActuator, void> callback(this,dynamic_cast<PHY_IPhysicsController*>(spc));
				result = KX_RayCast::RayTest(pe, position, topoint, callback);
				if (result)	{
					MT_Vector3 newnormal = callback.m_hitNormal;
					// compute new position & orientation
					if ((m_option & (KX_ACT_CONSTRAINT_NORMAL|KX_ACT_CONSTRAINT_DISTANCE)) == 0) {
						// if none option is set, the actuator does nothing but detect ray 
						// (works like a sensor)
						goto CHECK_TIME;
					}
					if (m_option & KX_ACT_CONSTRAINT_NORMAL) {
						MT_Scalar rotFilter;
						// apply damping on the direction
						if (m_rotDampTime) {
							rotFilter = m_rotDampTime/(1.0f+m_rotDampTime);
						} else {
							rotFilter = filter;
						}
						newnormal = rotFilter*normal - (1.0f-rotFilter)*newnormal;
						obj->AlignAxisToVect((sign)?-newnormal:newnormal, axis);

void RAS_OpenGLRasterizer::applyTransform(double* oglmatrix,int objectdrawmode )
{
	/* FIXME:
	blender: intern/moto/include/MT_Vector3.inl:42: MT_Vector3 operator/(const
	MT_Vector3&, double): Assertion `!MT_fuzzyZero(s)' failed.

	Program received signal SIGABRT, Aborted.
	[Switching to Thread 16384 (LWP 1519)]
	0x40477571 in kill () from /lib/libc.so.6
	(gdb) bt
	#7  0x08334368 in MT_Vector3::normalized() const ()
	#8  0x0833e6ec in RAS_OpenGLRasterizer::applyTransform(RAS_IRasterizer*, double*, int) ()
	*/

	if (objectdrawmode & RAS_IPolyMaterial::BILLBOARD_SCREENALIGNED ||
		objectdrawmode & RAS_IPolyMaterial::BILLBOARD_AXISALIGNED)
	{
		// rotate the billboard/halo
		//page 360/361 3D Game Engine Design, David Eberly for a discussion
		// on screen aligned and axis aligned billboards
		// assumed is that the preprocessor transformed all billboard polygons
		// so that their normal points into the positive x direction (1.0, 0.0, 0.0)
		// when new parenting for objects is done, this rotation
		// will be moved into the object

		MT_Point3 objpos (oglmatrix[12],oglmatrix[13],oglmatrix[14]);
		MT_Point3 campos = GetCameraPosition();
		MT_Vector3 dir = (campos - objpos).safe_normalized();
		MT_Vector3 up(0,0,1.0);

		KX_GameObject* gameobj = (KX_GameObject*)m_clientobject;
		// get scaling of halo object
		MT_Vector3  size = gameobj->GetSGNode()->GetWorldScaling();

		bool screenaligned = (objectdrawmode & RAS_IPolyMaterial::BILLBOARD_SCREENALIGNED)!=0;//false; //either screen or axisaligned
		if (screenaligned)
		{
			up = (up - up.dot(dir) * dir).safe_normalized();
		} else
		{
			dir = (dir - up.dot(dir)*up).safe_normalized();
		}

		MT_Vector3 left = dir.normalized();
		dir = (up.cross(left)).normalized();

		// we have calculated the row vectors, now we keep
		// local scaling into account:

		left *= size[0];
		dir  *= size[1];
		up   *= size[2];

		double maat[16] = {left[0], left[1], left[2], 0,
		                   dir[0],  dir[1],  dir[2],  0,
		                   up[0],   up[1],   up[2],   0,
		                   0,       0,       0,       1};

		glTranslated(objpos[0],objpos[1],objpos[2]);
		glMultMatrixd(maat);

	}
	else {
		if (objectdrawmode & RAS_IPolyMaterial::SHADOW)
		{
			// shadow must be cast to the ground, physics system needed here!
			MT_Point3 frompoint(oglmatrix[12],oglmatrix[13],oglmatrix[14]);
			KX_GameObject *gameobj = (KX_GameObject*)m_clientobject;
			MT_Vector3 direction = MT_Vector3(0,0,-1);

			direction.normalize();
			direction *= 100000;

			MT_Point3 topoint = frompoint + direction;

			KX_Scene* kxscene = (KX_Scene*) m_auxilaryClientInfo;
			PHY_IPhysicsEnvironment* physics_environment = kxscene->GetPhysicsEnvironment();
			PHY_IPhysicsController* physics_controller = gameobj->GetPhysicsController();

			KX_GameObject *parent = gameobj->GetParent();
			if (!physics_controller && parent)
				physics_controller = parent->GetPhysicsController();
			if (parent)
				parent->Release();

			KX_RayCast::Callback<RAS_OpenGLRasterizer> callback(this, physics_controller, oglmatrix);
			if (!KX_RayCast::RayTest(physics_environment, frompoint, topoint, callback))
			{
				// couldn't find something to cast the shadow on...
				glMultMatrixd(oglmatrix);
			}
			else
			{ // we found the "ground", but the cast matrix doesn't take
			  // scaling in consideration, so we must apply the object scale
				MT_Vector3  size = gameobj->GetSGNode()->GetLocalScale();
				glScalef(size[0], size[1], size[2]);
			}
		} else
		{

//.........这里部分代码省略.........

	///this generates ipo curves for position, rotation, allowing to use game physics in animation
void	KX_BlenderSceneConverter::WritePhysicsObjectToAnimationIpo(int frameNumber)
{

	KX_SceneList* scenes = m_ketsjiEngine->CurrentScenes();
	int numScenes = scenes->size();
	int i;
	for (i=0;i<numScenes;i++)
	{
		KX_Scene* scene = scenes->at(i);
		//PHY_IPhysicsEnvironment* physEnv = scene->GetPhysicsEnvironment();
		CListValue* parentList = scene->GetObjectList();
		int numObjects = parentList->GetCount();
		int g;
		for (g=0;g<numObjects;g++)
		{
			KX_GameObject* gameObj = (KX_GameObject*)parentList->GetValue(g);
			Object* blenderObject = gameObj->GetBlenderObject();
			if (blenderObject && blenderObject->parent==NULL && gameObj->GetPhysicsController() != NULL)
			{
				//KX_IPhysicsController* physCtrl = gameObj->GetPhysicsController();

				if(blenderObject->adt==NULL)
					BKE_id_add_animdata(&blenderObject->id);

				if (blenderObject->adt)
				{
					const MT_Point3& position = gameObj->NodeGetWorldPosition();
					//const MT_Vector3& scale = gameObj->NodeGetWorldScaling();
					const MT_Matrix3x3& orn = gameObj->NodeGetWorldOrientation();

					position.getValue(blenderObject->loc);

					float tmat[3][3];
					for (int r=0;r<3;r++)
						for (int c=0;c<3;c++)
							tmat[r][c] = (float)orn[c][r];

					mat3_to_compatible_eul(blenderObject->rot, blenderObject->rot, tmat);

					insert_keyframe(NULL, &blenderObject->id, NULL, NULL, "location", -1, (float)frameNumber, INSERTKEY_FAST);
					insert_keyframe(NULL, &blenderObject->id, NULL, NULL, "rotation_euler", -1, (float)frameNumber, INSERTKEY_FAST);

#if 0
					const MT_Point3& position = gameObj->NodeGetWorldPosition();
					//const MT_Vector3& scale = gameObj->NodeGetWorldScaling();
					const MT_Matrix3x3& orn = gameObj->NodeGetWorldOrientation();
					
					float eulerAngles[3];	
					float eulerAnglesOld[3] = {0.0f, 0.0f, 0.0f};						
					float tmat[3][3];
					
					// XXX animato
					Ipo* ipo = blenderObject->ipo;

					//create the curves, if not existing, set linear if new

					IpoCurve *icu_lx = findIpoCurve((IpoCurve *)ipo->curve.first,"LocX");
					if (!icu_lx) {
						icu_lx = verify_ipocurve(&blenderObject->id, ipo->blocktype, NULL, NULL, NULL, OB_LOC_X, 1);
						if(icu_lx) icu_lx->ipo = IPO_LIN;
					}
					IpoCurve *icu_ly = findIpoCurve((IpoCurve *)ipo->curve.first,"LocY");
					if (!icu_ly) {
						icu_ly = verify_ipocurve(&blenderObject->id, ipo->blocktype, NULL, NULL, NULL, OB_LOC_Y, 1);
						if(icu_ly) icu_ly->ipo = IPO_LIN;
					}
					IpoCurve *icu_lz = findIpoCurve((IpoCurve *)ipo->curve.first,"LocZ");
					if (!icu_lz) {
						icu_lz = verify_ipocurve(&blenderObject->id, ipo->blocktype, NULL, NULL, NULL, OB_LOC_Z, 1);
						if(icu_lz) icu_lz->ipo = IPO_LIN;
					}
					IpoCurve *icu_rx = findIpoCurve((IpoCurve *)ipo->curve.first,"RotX");
					if (!icu_rx) {
						icu_rx = verify_ipocurve(&blenderObject->id, ipo->blocktype, NULL, NULL, NULL, OB_ROT_X, 1);
						if(icu_rx) icu_rx->ipo = IPO_LIN;
					}
					IpoCurve *icu_ry = findIpoCurve((IpoCurve *)ipo->curve.first,"RotY");
					if (!icu_ry) {
						icu_ry = verify_ipocurve(&blenderObject->id, ipo->blocktype, NULL, NULL, NULL, OB_ROT_Y, 1);
						if(icu_ry) icu_ry->ipo = IPO_LIN;
					}
					IpoCurve *icu_rz = findIpoCurve((IpoCurve *)ipo->curve.first,"RotZ");
					if (!icu_rz) {
						icu_rz = verify_ipocurve(&blenderObject->id, ipo->blocktype, NULL, NULL, NULL, OB_ROT_Z, 1);
						if(icu_rz) icu_rz->ipo = IPO_LIN;
					}
					
					if(icu_rx) eulerAnglesOld[0]= eval_icu( icu_rx, frameNumber - 1 ) / ((180 / 3.14159265f) / 10);
					if(icu_ry) eulerAnglesOld[1]= eval_icu( icu_ry, frameNumber - 1 ) / ((180 / 3.14159265f) / 10);
					if(icu_rz) eulerAnglesOld[2]= eval_icu( icu_rz, frameNumber - 1 ) / ((180 / 3.14159265f) / 10);
					
					// orn.getValue((float *)tmat); // uses the wrong ordering, cant use this
					for (int r=0;r<3;r++)
						for (int c=0;c<3;c++)
							tmat[r][c] = orn[c][r];
					
					// mat3_to_eul( eulerAngles,tmat); // better to use Mat3ToCompatibleEul
					mat3_to_compatible_eul( eulerAngles, eulerAnglesOld,tmat);
					
//.........这里部分代码省略.........

bool KX_RaySensor::Evaluate()
{
	bool result = false;
	bool reset = m_reset && m_level;
	m_rayHit = false; 
	m_hitObject = NULL;
	m_hitPosition[0] = 0;
	m_hitPosition[1] = 0;
	m_hitPosition[2] = 0;

	m_hitNormal[0] = 1;
	m_hitNormal[1] = 0;
	m_hitNormal[2] = 0;
	
	KX_GameObject* obj = (KX_GameObject*)GetParent();
	MT_Point3 frompoint = obj->NodeGetWorldPosition();
	MT_Matrix3x3 matje = obj->NodeGetWorldOrientation();
	MT_Matrix3x3 invmat = matje.inverse();
	
	MT_Vector3 todir;
	m_reset = false;
	switch (m_axis)
	{
	case SENS_RAY_X_AXIS: // X
		{
			todir[0] = invmat[0][0];
			todir[1] = invmat[0][1];
			todir[2] = invmat[0][2];
			break;
		}
	case SENS_RAY_Y_AXIS: // Y
		{
			todir[0] = invmat[1][0];
			todir[1] = invmat[1][1];
			todir[2] = invmat[1][2];
			break;
		}
	case SENS_RAY_Z_AXIS: // Z
		{
			todir[0] = invmat[2][0];
			todir[1] = invmat[2][1];
			todir[2] = invmat[2][2];
			break;
		}
	case SENS_RAY_NEG_X_AXIS: // -X
		{
			todir[0] = -invmat[0][0];
			todir[1] = -invmat[0][1];
			todir[2] = -invmat[0][2];
			break;
		}
	case SENS_RAY_NEG_Y_AXIS: // -Y
		{
			todir[0] = -invmat[1][0];
			todir[1] = -invmat[1][1];
			todir[2] = -invmat[1][2];
			break;
		}
	case SENS_RAY_NEG_Z_AXIS: // -Z
		{
			todir[0] = -invmat[2][0];
			todir[1] = -invmat[2][1];
			todir[2] = -invmat[2][2];
			break;
		}
	}
	todir.normalize();
	m_rayDirection[0] = todir[0];
	m_rayDirection[1] = todir[1];
	m_rayDirection[2] = todir[2];

	MT_Point3 topoint = frompoint + (m_distance) * todir;
	PHY_IPhysicsEnvironment* pe = m_scene->GetPhysicsEnvironment();

	if (!pe)
	{
		std::cout << "WARNING: Ray sensor " << GetName() << ":  There is no physics environment!" << std::endl;
		std::cout << "         Check universe for malfunction." << std::endl;
		return false;
	} 

	KX_IPhysicsController *spc = obj->GetPhysicsController();
	KX_GameObject *parent = obj->GetParent();
	if (!spc && parent)
		spc = parent->GetPhysicsController();
	
	if (parent)
		parent->Release();
	

	PHY_IPhysicsEnvironment* physics_environment = this->m_scene->GetPhysicsEnvironment();
	

	KX_RayCast::Callback<KX_RaySensor> callback(this, spc);
	KX_RayCast::RayTest(physics_environment, frompoint, topoint, callback);

	/* now pass this result to some controller */

	if (m_rayHit)
	{
//.........这里部分代码省略.........