CWE-ou-minkata/Sources/Plasma/FeatureLib/pfPython/cyPhysics.cpp

/*==LICENSE==*

CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011  Cyan Worlds, Inc.

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
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combining it with any of RAD Game Tools Bink SDK, Autodesk 3ds Max SDK,
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*==LICENSE==*/

#include <Python.h>
#include "plgDispatch.h"
#include "pyGeometry3.h"
#include "pnKeyedObject/plKey.h"
#include "pyKey.h"
#include "hsQuat.h"
#include "pyMatrix44.h"
#pragma hdrstop

#include "cyPhysics.h"

#include "pnMessage/plEnableMsg.h"
#include "pnMessage/plWarpMsg.h"
#include "plMessage/plSimStateMsg.h"
#include "plMessage/plLinearVelocityMsg.h"
#include "plMessage/plAngularVelocityMsg.h"

#include "pnSceneObject/plSceneObject.h"
#include "pnSceneObject/plCoordinateInterface.h"

cyPhysics::cyPhysics(plKey sender, plKey recvr)
{
    SetSender(sender);
    AddRecvr(recvr);
    fNetForce = false;
}

// setters
void cyPhysics::SetSender(plKey &sender)
{
    fSender = sender;
}

void cyPhysics::AddRecvr(plKey &recvr)
{
    if ( recvr != nil )
        fRecvr.Append(recvr);
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : Enable
//  PARAMETERS : 
//
//  PURPOSE    : Enable physics (must already be there)
//
void cyPhysics::EnableT(bool state)
{
    // must have a receiver!
    if ( fRecvr.Count() > 0 )
    {
        // create message
        plEnableMsg* pMsg = new plEnableMsg;
        // check if this needs to be network forced to all clients
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        // jump back to frame 0
        pMsg->SetCmd(plEnableMsg::kPhysical);
        // which way are we doin' it?
        if ( state )
            pMsg->SetCmd(plEnableMsg::kEnable);
        else
            pMsg->SetCmd(plEnableMsg::kDisable);
        // make sure to propagate this to the modifiers to tell things like the clickables to disable.
        pMsg->SetBCastFlag(plMessage::kPropagateToModifiers);
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : Enable / Disable Collision
//
//  PURPOSE    : Enable / Disable collision for terrain and proxy terrain objects
//               because using cyPhysics::Enable() does not work for these physical types
//
//

void  cyPhysics::EnableCollision()
{
    hsAssert(0, "Who uses this?");
    /*
    // must have a receiver!
    if ( fRecvr.Count() > 0 )
    {
        plEventGroupEnableMsg* pMsg = new plEventGroupEnableMsg;
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        pMsg->SetFlags(plEventGroupEnableMsg::kCollideOn);  
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }
    */
}

void  cyPhysics::DisableCollision()
{
    hsAssert(0, "Who uses this?");
    /*
    // must have a receiver!
    if ( fRecvr.Count() > 0 )
    {
        plEventGroupEnableMsg* pMsg = new plEventGroupEnableMsg;
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        pMsg->SetFlags(plEventGroupEnableMsg::kCollideOff); 
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }
    */
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : Warp
//  PARAMETERS : pos    - the point to translate to
//
//  PURPOSE    : Suggest to physics engine where you want to place something
//
//
void cyPhysics::Warp(pyPoint3& pos)
{
    // create message
    PyObject* matObj = pyMatrix44::New();
    pyMatrix44* mat = pyMatrix44::ConvertFrom(matObj);
    mat->fMatrix.IdentityMatrix();
    mat->fMatrix.SetTranslate(&pos.fPoint);
    WarpMat(*mat);
    Py_DECREF(matObj);
}

// warp v2 - for warping to the matching transform of an object (like a reference point)
void cyPhysics::WarpObj(pyKey& obj)
{
    plKey obKey = obj.getKey();
    plSceneObject* pObj = plSceneObject::ConvertNoRef(obKey->GetObjectPtr());
    if (pObj && pObj->GetCoordinateInterface())
    {
        // create message
        PyObject* matObj = pyMatrix44::New();
        pyMatrix44* mat = pyMatrix44::ConvertFrom(matObj);
        mat->fMatrix = pObj->GetCoordinateInterface()->GetLocalToWorld();
        WarpMat(*mat);
        Py_DECREF(matObj);
    }
}


/////////////////////////////////////////////////////////////////////////////
//
//  Function   : WarpMat
//  PARAMETERS : mat     - the matrix to translate to
//
//  PURPOSE    : Suggest to physics engine where you want to place something
//
//
void cyPhysics::WarpMat(pyMatrix44& mat)
{
    // must have a receiver!
    if ( fRecvr.Count() > 0 )
    {
        // create message
        plWarpMsg* pMsg = new plWarpMsg(mat.fMatrix);
        pMsg->SetWarpFlags(plWarpMsg::kFlushTransform);
        // check if this needs to be network forced to all clients
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : Move
//  PARAMETERS : direction  - vector of direction to move towards
//             : distance   - how far to move in that direction
//
//  PURPOSE    : Move the object in a direction and distance
//             : if the object is physical then warp it
//             : otherwise just use the coordinate interface and set the transform
//
void cyPhysics::Move(pyVector3& direction, float distance)
{
    //move each receiver (object) separately
    int i;
    for ( i=0; i<fRecvr.Count(); i++ )
    {
        // get the object pointer of just the first one in the list
        // (We really can't tell which one the user is thinking of if they are
        // referring to multiple objects, so the first one in the list will do.)
        plSceneObject* obj = plSceneObject::ConvertNoRef(fRecvr[i]->GetObjectPtr());
        if ( obj )
        {
            const plCoordinateInterface* ci = obj->GetCoordinateInterface();
            if ( ci )
            {
                hsVector3 offset = direction.fVector * distance;
                hsMatrix44 trans;
                trans.MakeTranslateMat(&offset);

                hsMatrix44 target_matrix = ci->GetWorldToLocal();
                target_matrix = target_matrix * trans;

                // see if this has a physical interface, if so, then its physical, therefore use warp
                const plSimulationInterface* si = obj->GetSimulationInterface();
                if ( si )
                {
                    // create message for each receiver
                    plWarpMsg* pMsg = new plWarpMsg(target_matrix);
                    // check if this needs to be network forced to all clients
                    if (fNetForce )
                    {
                        // set the network propagate flag to make sure it gets to the other clients
                        pMsg->SetBCastFlag(plMessage::kNetPropagate);
                        pMsg->SetBCastFlag(plMessage::kNetForce);
                    }
                    if ( fSender )
                        pMsg->SetSender(fSender);
                    // must have a receiver!
                    pMsg->AddReceiver(fRecvr[i]);
                    plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
                }
                else
                {
                    // else just use the coordinate interface
                    hsMatrix44 w2l;
                    target_matrix.GetInverse(&w2l);
                    obj->SetTransform(target_matrix,w2l);
                }
            }
            else
            {
                plString errmsg = plFormat("Sceneobject {} does not have a coordinate interface.",
                                           obj->GetKeyName());
                PyErr_SetString(PyExc_RuntimeError, errmsg.c_str());
            }
        }
    }
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : Rotate
//  PARAMETERS : rad  - radians to rotate
//             : axis - axis to rotate around
//
//  PURPOSE    : Rotate the object
//             : if the object is physical then warp it
//             : otherwise just use the coordinate interface and set the transform
//
void cyPhysics::Rotate(float rad, pyVector3& axis)
{
    // rotate each receiver (object) separately
    int i;
    for ( i=0; i<fRecvr.Count(); i++ )
    {
        // get the object pointer of just the first one in the list
        // (We really can't tell which one the user is thinking of if they are
        // referring to multiple objects, so the first one in the list will do.)
        plSceneObject* obj = plSceneObject::ConvertNoRef(fRecvr[i]->GetObjectPtr());
        if ( obj )
        {
            const plCoordinateInterface* ci = obj->GetCoordinateInterface();
            if ( ci )
            {
                hsQuat q(rad, &axis.fVector);
                q.Normalize();
                hsMatrix44 rot;
                q.MakeMatrix(&rot);

                hsMatrix44 target_matrix = ci->GetWorldToLocal();
                target_matrix = target_matrix * rot;

                // see if this has a physical interface, then its physical, therefore use warp
                const plSimulationInterface* si = obj->GetSimulationInterface();
                if ( si )
                {
                    // create message for each receiver
                    plWarpMsg* pMsg = new plWarpMsg(target_matrix);
                    // check if this needs to be network forced to all clients
                    if (fNetForce )
                    {
                        // set the network propagate flag to make sure it gets to the other clients
                        pMsg->SetBCastFlag(plMessage::kNetPropagate);
                        pMsg->SetBCastFlag(plMessage::kNetForce);
                    }
                    if ( fSender )
                        pMsg->SetSender(fSender);
                    // must have a receiver!
                    pMsg->AddReceiver(fRecvr[i]);
                    plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
                }
                else
                {
                    // else just use the coordinate interface
                    hsMatrix44 w2l;
                    target_matrix.GetInverse(&w2l);
                    obj->SetTransform(target_matrix,w2l);
                }
            }
            else
            {
                plString errmsg = plFormat("Sceneobject {} does not have a coordinate interface.",
                                           obj->GetKeyName());
                PyErr_SetString(PyExc_RuntimeError, errmsg.c_str());
            }
        }
    }
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : Force
//  PARAMETERS : 
//
//  PURPOSE    : apply a force to the center of mass of the receiver
//
//
void cyPhysics::Force(pyVector3& force)
{
    hsAssert(0, "Who uses this?");
    // must have a receiver!
/*  if ( fRecvr.Count() > 0 )
    {
        // create message
        plForceMsg* pMsg = new plForceMsg;
        // check if this needs to be network forced to all clients
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        pMsg->SetForce(force.fVector);
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }
*/
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : ForceWithOffset
//  PARAMETERS : 
//
//  PURPOSE    : apply a force to the receiver as though it were being impacted at the
//             : given point in global space
//
//
void cyPhysics::ForceWithOffset(pyVector3& force, pyPoint3& offset)
{
    hsAssert(0, "Who uses this?");
    // must have a receiver!
/*  if ( fRecvr.Count() > 0 )
    {
        // create message
        plOffsetForceMsg* pMsg = new plOffsetForceMsg;
        // check if this needs to be network forced to all clients
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        pMsg->SetForce(force.fVector);
        pMsg->SetPoint(offset.fPoint);
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }
*/
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : Torque
//  PARAMETERS : 
//
//  PURPOSE    : Apply the given torque force to the body
//             : The vector indicates the axes, and the magnitude indicates the strength
//
//
void cyPhysics::Torque(pyVector3& torque)
{
    hsAssert(0, "Who uses this?");
    // must have a receiver!
/*  if ( fRecvr.Count() > 0 )
    {
        // create message
        plTorqueMsg* pMsg = new plTorqueMsg;
        // check if this needs to be network forced to all clients
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        pMsg->SetTorque(torque.fVector);
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }
*/
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : Impulse
//  PARAMETERS : 
//
//  PURPOSE    : Add the given vector to the objects velocity
//
//
void cyPhysics::Impulse(pyVector3& impulse)
{
    hsAssert(0, "Who uses this?");
    // must have a receiver!
/*  if ( fRecvr.Count() > 0 )
    {
        // create message
        plImpulseMsg* pMsg = new plImpulseMsg;
        // check if this needs to be network forced to all clients
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        pMsg->SetImpulse(impulse.fVector);
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }
*/
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : ImpulseWithOffset
//  PARAMETERS : 
//
//  PURPOSE    : Apply the given impulse to the object at the given point in global space
//             : Will impart torque if not applied to center of mass
//
//
void cyPhysics::ImpulseWithOffset(pyVector3& impulse, pyPoint3& offset)
{
    hsAssert(0, "Who uses this?");
    // must have a receiver!
/*  if ( fRecvr.Count() > 0 )
    {
        // create message
        plOffsetImpulseMsg* pMsg = new plOffsetImpulseMsg;
        // check if this needs to be network forced to all clients
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        pMsg->SetImpulse(impulse.fVector);
        pMsg->SetPoint(offset.fPoint);
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }
*/
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : AngularImpulse
//  PARAMETERS : 
//
//  PURPOSE    : Add the given vector (representing a rotation axis and magnitude)
//
//
void cyPhysics::AngularImpulse(pyVector3& impulse)
{
    hsAssert(0, "Who uses this?");
    // must have a receiver!
/*  if ( fRecvr.Count() > 0 )
    {
        // create message
        plAngularImpulseMsg* pMsg = new plAngularImpulseMsg;
        // check if this needs to be network forced to all clients
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        pMsg->SetImpulse(impulse.fVector);
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }
*/
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : Damp
//  PARAMETERS : 
//
//  PURPOSE    : Decrease all velocities on the given object.
//             : A damp factor of 0 nulls them all entirely;
//             : A damp factor of 1 leaves them alone.
//
//
void cyPhysics::Damp(float damp)
{
    hsAssert(0, "Who uses this?");
    // must have a receiver!
/*  if ( fRecvr.Count() > 0 )
    {
        // create message
        plDampMsg* pMsg = new plDampMsg;
        // check if this needs to be network forced to all clients
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        pMsg->SetDamp(damp);
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }
*/
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : ShiftMass
//  PARAMETERS : 
//
//  PURPOSE    : Shift the center of mass of the given object by the given
//             : amount in the given direction.
//
//
void cyPhysics::ShiftMass(pyVector3& offset)
{
    hsAssert(0, "Who uses this?");
    // must have a receiver!
/*  if ( fRecvr.Count() > 0 )
    {
        // create message
        plShiftMassMsg* pMsg = new plShiftMassMsg;
        // check if this needs to be network forced to all clients
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        pMsg->SetOffset(offset.fVector);
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }
*/
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : Suppress
//  PARAMETERS : doSuppress:    if true, remove the physical (see below)
//                              if false, add it back
//
//  PURPOSE    : Completely remove the physical, but keep it around so it
//               can be added back later.
//
//
void cyPhysics::Suppress(bool doSuppress)
{
    EnableT(!doSuppress);
}

/////////////////////////////////////////////////////////////////////////////
//
//  Function   : SetLinearVelocity
//  PARAMETERS : velocity
//
//  PURPOSE    : Change the objects linear velocity to this 
//
//
void cyPhysics::SetLinearVelocity(pyVector3& velocity)
{
    if ( fRecvr.Count() > 0 )
    {
        // create message
        plLinearVelocityMsg* pMsg = new plLinearVelocityMsg;
        // check if this needs to be network forced to all clients
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        
        pMsg->Velocity(velocity.fVector);
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }
}
void cyPhysics::SetAngularVelocity(pyVector3& angVel)
{
    if ( fRecvr.Count() > 0 )
    {
        // create message
        plAngularVelocityMsg* pMsg = new plAngularVelocityMsg;
        // check if this needs to be network forced to all clients
        if (fNetForce )
        {
            // set the network propagate flag to make sure it gets to the other clients
            pMsg->SetBCastFlag(plMessage::kNetPropagate);
            pMsg->SetBCastFlag(plMessage::kNetForce);
        }
        if ( fSender )
            pMsg->SetSender(fSender);

        // add all our receivers to the message receiver list
        int i;
        for ( i=0; i<fRecvr.Count(); i++ )
        {
            pMsg->AddReceiver(fRecvr[i]);
        }
        pMsg->AngularVelocity(angVel.fVector);
        plgDispatch::MsgSend( pMsg );   // whoosh... off it goes
    }

}