[4570] | 1 | /*! |
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[3246] | 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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[4570] | 11 | place or ortientation. this is only the case if |
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[3246] | 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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[4436] | 31 | class TiXmlElement; |
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[3607] | 32 | template<class T> class tList; |
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[3246] | 33 | |
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[3450] | 34 | //! enumeration for the different translation-binding-types |
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[3565] | 35 | //typedef enum parentingMode {PNODE_LOCAL_ROTATE, PNODE_ROTATE_MOVEMENT, PNODE_ALL, PNODE_MOVEMENT, PNODE_ROTATE_AND_MOVE}; |
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| 36 | // linkage modes |
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| 37 | #define PNODE_LOCAL_ROTATE 1 //!< Rotates all the children around their centers. |
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| 38 | #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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| 39 | #define PNODE_MOVEMENT 4 //!< Moves all children along with the parent. |
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| 40 | // special linkage modes |
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| 41 | #define PNODE_ALL 3 //!< Moves all children around the center of their parent, and also rotates their centers |
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| 42 | #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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| 43 | |
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[3450] | 44 | //! The default mode of the translation-binding. |
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[3565] | 45 | #define DEFAULT_MODE PNODE_ALL |
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[3246] | 46 | |
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[4440] | 47 | |
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[3450] | 48 | //! Patent Node is a Engine to calculate the position of an Object in respect to the position of its parent. |
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[4382] | 49 | class PNode : virtual public BaseObject { |
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[3365] | 50 | |
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[3246] | 51 | public: |
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| 52 | PNode (); |
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[4436] | 53 | PNode(const TiXmlElement* root); |
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[3809] | 54 | PNode (const Vector& absCoordinate, PNode* pNode); |
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[3365] | 55 | virtual ~PNode (); |
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[3246] | 56 | |
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[4436] | 57 | void loadParams(const TiXmlElement* root); |
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| 58 | |
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[3810] | 59 | void setRelCoor (const Vector& relCoord); |
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[4372] | 60 | /** \returns the relative position */ |
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| 61 | inline const Vector& getRelCoor () const { return this->relCoordinate; }; |
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[3809] | 62 | void setAbsCoor (const Vector& absCoord); |
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[4448] | 63 | /** \returns the absolute position */ |
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[4372] | 64 | inline const Vector& getAbsCoor () const { return this->absCoordinate; }; |
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[3809] | 65 | void shiftCoor (const Vector& shift); |
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[3246] | 66 | |
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[3810] | 67 | void setRelDir (const Quaternion& relDir); |
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[4372] | 68 | /** \returns the relative Direction */ |
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| 69 | inline const Quaternion& getRelDir () const { return this->relDirection; }; |
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| 70 | /** \returns a Vector pointing into the relative Direction */ |
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| 71 | inline Vector getRelDirV() const { return this->relDirection.apply(Vector(0,1,0)); }; |
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[3810] | 72 | void setAbsDir (const Quaternion& absDir); |
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[4372] | 73 | /** \returns the absolute Direction */ |
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| 74 | inline const Quaternion& getAbsDir () const { return this->absDirection; }; |
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| 75 | /** \returns a Vector pointing into the absolute Direction */ |
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| 76 | inline Vector getAbsDirV() const { return this->absDirection.apply(Vector(0,1,0)); }; |
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[3802] | 77 | void shiftDir (const Quaternion& shift); |
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[3246] | 78 | |
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[4145] | 79 | /** \returns the Speed of the Node */ |
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[4570] | 80 | inline float getSpeed() const {return this->velocity.len();} |
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[4145] | 81 | /** \returns the Velocity of the Node */ |
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| 82 | inline const Vector& getVelocity() const {return this->velocity;} |
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[3644] | 83 | |
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[4440] | 84 | |
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[3802] | 85 | void addChild (PNode* pNode, int parentingMode = DEFAULT_MODE); |
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[3246] | 86 | void removeChild (PNode* pNode); |
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[3537] | 87 | void remove(); |
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| 88 | |
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[3535] | 89 | void setParent (PNode* parent); |
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[4444] | 90 | void setParentMode (unsigned int parentingMode); |
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[4448] | 91 | /** \returns the Parenting mode of this node */ |
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[4444] | 92 | int getParentMode() const { return this->parentMode; }; |
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[3246] | 93 | |
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[4440] | 94 | void update (float dt); |
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[3246] | 95 | |
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[3365] | 96 | void debug (); |
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[4570] | 97 | void debugDraw(float size = 1.0) const; |
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[3365] | 98 | |
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[4440] | 99 | private: |
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| 100 | void init(PNode* parent); |
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[4448] | 101 | /** \brief tells the child that the parent's Coordinate has changed */ |
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[4440] | 102 | inline void parentCoorChanged () { this->bRelCoorChanged = true; } |
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[4448] | 103 | /** \brief tells the child that the parent's Direction has changed */ |
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[4440] | 104 | inline void parentDirChanged () { this->bRelDirChanged = true; } |
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| 105 | /** \returns the last calculated coordinate */ |
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| 106 | inline Vector getLastAbsCoor(void) {return this->lastAbsCoordinate;} |
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[3246] | 107 | |
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[3537] | 108 | |
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[3644] | 109 | private: |
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[4440] | 110 | bool bAbsCoorChanged; //!< If Absolute Coordinate has changed since last time we checked |
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| 111 | bool bRelCoorChanged; //!< If Relative Coordinate has changed since last time we checked |
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| 112 | bool bAbsDirChanged; //!< If Absolute Direction has changed since last time we checked |
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| 113 | bool bRelDirChanged; //!< If Relative Direction has changed since last time we checked |
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[3644] | 114 | |
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[4440] | 115 | Vector relCoordinate; //!< coordinates relative to the parent |
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| 116 | Vector absCoordinate; //!< absolute coordinates in the world ( from (0,0,0) ) |
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| 117 | Quaternion relDirection; //!< direction relative to the parent |
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| 118 | Quaternion absDirection; //!< absolute direvtion in the world ( from (0,0,1) ) |
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| 119 | |
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| 120 | Vector velocity; //!< Saves the velocity. |
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| 121 | Vector lastAbsCoordinate; //!< this is used for speedcalculation, it stores the last coordinate |
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| 122 | |
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| 123 | PNode* parent; //!< a pointer to the parent node |
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| 124 | tList<PNode>* children; //!< list of the children |
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| 125 | |
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[4444] | 126 | unsigned int parentMode; //!< the mode of the binding |
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[3246] | 127 | }; |
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| 128 | |
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| 129 | #endif /* _P_NODE_H */ |
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[4570] | 130 | |
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