[3246] | 1 | /*! |
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| 2 | \file p_node.h |
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| 3 | \brief Definition of a parenting node |
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| 4 | |
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| 5 | parenting is how coordinates are handled in orxonox, meaning, that all coordinates |
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| 6 | are representet relative to another parent node. this nodes build a parenting |
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| 7 | tree of one-sided references (from up to down referenced). |
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| 8 | Every node manages itself a list of childrens (of whos it is parent - easy...) |
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| 9 | |
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| 10 | absCoordinate, absDirection have to be recalculated as soon as there was a change in |
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| 11 | place or ortientation. this is only the case if |
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| 12 | o bDirChanged is true (so changed) AND timeStamp != now |
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| 13 | o bCoorChanged is true (so moved) AND timeStamp != now |
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| 14 | this conditions make it cheaper to recalculate the tree (reduces redundant work). |
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| 15 | |
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[3365] | 16 | remember: if you have to change the coordinates or the directions, use the functions |
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| 17 | that are defined to execute this operation - otherwhise there will be big problems... |
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[3246] | 18 | */ |
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| 19 | |
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| 20 | |
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| 21 | #ifndef _P_NODE_H |
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| 22 | #define _P_NODE_H |
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| 23 | |
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[3543] | 24 | #include "base_object.h" |
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[3804] | 25 | #include "vector.h" |
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[3246] | 26 | |
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[3543] | 27 | // FORWARD DEFINITION \\ |
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[3365] | 28 | class PNode; /* forward decleration, so that parentEntry has access to PNode */ |
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[3804] | 29 | //class Quaternion; |
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| 30 | //class Vector; |
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[3607] | 31 | template<class T> class tList; |
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[3246] | 32 | |
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[3450] | 33 | //! enumeration for the different translation-binding-types |
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[3565] | 34 | //typedef enum parentingMode {PNODE_LOCAL_ROTATE, PNODE_ROTATE_MOVEMENT, PNODE_ALL, PNODE_MOVEMENT, PNODE_ROTATE_AND_MOVE}; |
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| 35 | // linkage modes |
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| 36 | #define PNODE_LOCAL_ROTATE 1 //!< Rotates all the children around their centers. |
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| 37 | #define PNODE_ROTATE_MOVEMENT 2 //!< Moves all the children around the center of their parent, without the rotation around their own centers. |
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| 38 | #define PNODE_MOVEMENT 4 //!< Moves all children along with the parent. |
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| 39 | // special linkage modes |
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| 40 | #define PNODE_ALL 3 //!< Moves all children around the center of their parent, and also rotates their centers |
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| 41 | #define PNODE_ROTATE_AND_MOVE 5 //!< Rotates all children around their axis, and moves them as the Parent Moves, but does not rotate around the center of their parent. |
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| 42 | |
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[3450] | 43 | //! The default mode of the translation-binding. |
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[3565] | 44 | #define DEFAULT_MODE PNODE_ALL |
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[3246] | 45 | |
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[3450] | 46 | //! Patent Node is a Engine to calculate the position of an Object in respect to the position of its parent. |
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[3365] | 47 | class PNode : public BaseObject { |
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| 48 | |
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[3246] | 49 | public: |
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| 50 | PNode (); |
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[3809] | 51 | PNode (const Vector& absCoordinate, PNode* pNode); |
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[3365] | 52 | virtual ~PNode (); |
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[3246] | 53 | |
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[3450] | 54 | PNode* parent; //!< a pointer to the parent node |
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| 55 | tList<PNode>* children; //!< list of the children |
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[3365] | 56 | |
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| 57 | |
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[3537] | 58 | |
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[4194] | 59 | inline const Vector& getRelCoor () const { return this->relCoordinate; } |
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[3810] | 60 | void setRelCoor (const Vector& relCoord); |
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[4194] | 61 | inline const Vector& getAbsCoor () const { return this->absCoordinate; } |
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[3809] | 62 | void setAbsCoor (const Vector& absCoord); |
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| 63 | void shiftCoor (const Vector& shift); |
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[3246] | 64 | |
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[4194] | 65 | inline const Quaternion& getRelDir () const { return this->relDirection; } |
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[3810] | 66 | void setRelDir (const Quaternion& relDir); |
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[4194] | 67 | inline const Quaternion& getAbsDir () const { return this->absDirection; } |
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[4196] | 68 | inline Vector getAbsDirV(void) const { return this->absDirection.apply(Vector(0,1,0)); } |
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[3810] | 69 | void setAbsDir (const Quaternion& absDir); |
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[3802] | 70 | void shiftDir (const Quaternion& shift); |
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[3246] | 71 | |
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[4194] | 72 | /** \returns the Speed of the Node */ |
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| 73 | inline float getSpeed() const {return this->velocity.len()/1000;} //! \FIX THIS SHOULD NOT BE /1000 |
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| 74 | /** \returns the Velocity of the Node */ |
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| 75 | inline const Vector& getVelocity() const {return this->velocity;} |
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[3644] | 76 | |
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[3802] | 77 | void addChild (PNode* pNode, int parentingMode = DEFAULT_MODE); |
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[3246] | 78 | void removeChild (PNode* pNode); |
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[3537] | 79 | void remove(); |
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| 80 | |
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| 81 | |
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[3535] | 82 | void setParent (PNode* parent); |
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[3813] | 83 | inline void parentCoorChanged () { this->bRelCoorChanged = true; } |
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| 84 | inline void parentDirChanged () { this->bRelDirChanged = true; } |
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[3565] | 85 | void setMode (int parentingMode); |
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[3811] | 86 | int getMode() const; |
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[3246] | 87 | |
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[3644] | 88 | virtual void update (float dt); |
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[3365] | 89 | void processTick (float dt); |
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[3246] | 90 | |
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[4194] | 91 | void setName (const char* newName); |
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| 92 | const char* getName (); |
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[3365] | 93 | |
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| 94 | |
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| 95 | void debug (); |
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| 96 | |
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[3521] | 97 | protected: |
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[3450] | 98 | float timeStamp; //!< this the timeStamp of when the abs{Coordinat, Direction} has been calculated |
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| 99 | char* objectName; //!< The name of the Object |
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| 100 | bool bAbsCoorChanged; //!< If Absolute Coordinate has changed since last time we checked |
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| 101 | bool bRelCoorChanged; //!< If Relative Coordinate has changed since last time we checked |
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| 102 | bool bAbsDirChanged; //!< If Absolute Direction has changed since last time we checked |
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| 103 | bool bRelDirChanged; //!< If Relative Direction has changed since last time we checked |
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[3365] | 104 | |
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[4194] | 105 | Vector relCoordinate; //!< coordinates relative to the parent |
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| 106 | Vector absCoordinate; //!< absolute coordinates in the world ( from (0,0,0) ) |
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| 107 | Quaternion relDirection; //!< direction relative to the parent |
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| 108 | Quaternion absDirection; //!< absolute direvtion in the world ( from (0,0,1) ) |
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[3246] | 109 | |
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[3565] | 110 | int mode; //!< the mode of the binding |
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[3537] | 111 | |
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[3644] | 112 | private: |
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| 113 | void init(PNode* parent); |
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| 114 | |
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[4194] | 115 | Vector velocity; //!< Saves the velocity. |
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| 116 | Vector lastAbsCoordinate; //!< this is used for speedcalculation, it stores the last coordinate |
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[3246] | 117 | }; |
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| 118 | |
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| 119 | #endif /* _P_NODE_H */ |
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[3529] | 120 | |
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