source: orxonox.OLD/orxonox/trunk/src/lib/coord/p_node.h @ 3544

/*! 
    \file p_node.h
    \brief Definition of a parenting node

    parenting is how coordinates are handled in orxonox, meaning, that all coordinates
    are representet relative to another parent node. this nodes build a parenting
    tree of one-sided references (from up to down referenced).
    Every node manages itself a list of childrens (of whos it is parent - easy...)

    absCoordinate, absDirection have to be recalculated as soon as there was a change in
    place or ortientation. this is only the case if 
    o bDirChanged is true (so changed) AND timeStamp != now
    o bCoorChanged is true (so moved) AND timeStamp != now
    this conditions make it cheaper to recalculate the tree (reduces redundant work).

    remember: if you have to change the coordinates or the directions, use the functions
    that are defined to execute this operation - otherwhise there will be big problems...
*/


#ifndef _P_NODE_H
#define _P_NODE_H

#include "base_object.h"

// FORWARD DEFINITION \\
class PNode; /* forward decleration, so that parentEntry has access to PNode */
class Quaternion;
class Vector;

//! enumeration for the different translation-binding-types
typedef enum parentingMode {MOVEMENT = 0, ROTATION, ALL};
//! The default mode of the translation-binding.
#define DEFAULT_MODE ALL

//! Patent Node is a Engine to calculate the position of an Object in respect to the position of its parent.
class PNode : public BaseObject {

 public:
  PNode ();
  PNode (Vector* absCoordinate, PNode* pNode);
  virtual ~PNode ();

  PNode* parent;            //!< a pointer to the parent node
  tList<PNode>* children;   //!< list of the children



  Vector getRelCoor ();
  void setRelCoor (Vector* relCoord);
  //void setRelCoor (Vector relCoord);
  Vector getAbsCoor ();
  void setAbsCoor (Vector* absCoord);
  //void setAbsCoor (Vector absCoord);
  void shiftCoor (Vector* shift);
  //void shiftCoor (Vector shift);

  Quaternion getRelDir ();
  void setRelDir (Quaternion* relDir);
  Quaternion getAbsDir ();
  void setAbsDir (Quaternion* absDir);
  void shiftDir (Quaternion* shift);

  void addChild (PNode* pNode);
  void addChild (PNode* pNode, parentingMode mode);
  void removeChild (PNode* pNode);
  void remove();


  void setParent (PNode* parent);
  void parentCoorChanged ();
  void parentDirChanged ();
  void setMode (parentingMode mode);
  parentingMode getMode();

  virtual void update (float timeStamp);
  void processTick (float dt);
  virtual void tick (float dt);

  void setName (char* newName);
  char* getName ();


  void debug ();

 protected:
  PNode(char*);

  float timeStamp;         //!< this the timeStamp of when the abs{Coordinat, Direction} has been calculated
  char* objectName;        //!< The name of the Object
  bool bAbsCoorChanged;    //!< If Absolute Coordinate has changed since last time we checked
  bool bRelCoorChanged;    //!< If Relative Coordinate has changed since last time we checked
  bool bAbsDirChanged;     //!< If Absolute Direction has changed since last time we checked
  bool bRelDirChanged;     //!< If Relative Direction has changed since last time we checked

  Vector relCoordinate;    //!< coordinates relative to the parent
  Vector absCoordinate;    //!< absolute coordinates in the world ( from (0,0,0) )
  Quaternion relDirection; //!< direction relative to the parent
  Quaternion absDirection; //!< absolute direvtion in the world ( from (0,0,1) )

  parentingMode mode;       //!< the mode of the binding

};

#endif /* _P_NODE_H */