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

Last change on this file was 10368, checked in by patrick, 13 years ago

merged the branche playability into the trunk

File size: 12.4 KB
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1/*!
2 * @file p_node.h
3 * @brief Definition of THE Parenting Node
4 *
5 *  parenting is how coordinates are handled in orxonox, meaning, that all coordinates
6 *  are representet relative to another parent node. this nodes build a parenting
7 *  tree of one-sided references (from up to down referenced).
8 *  Every node manages itself a list of childrens (of whos it is parent - easy...).
9 *
10 *  absCoordinate, absDirection have to be recalculated as soon as there was a change in
11 *  place or ortientation. this is only the case if
12 *  o bRelCoorChanged is true (so moved)
13 *  o bRelDirChanged is true (so changed)
14 *  this conditions make it cheaper to recalculate the tree (reduces redundant work).
15 */
16
17
18#ifndef _P_NODE_H
19#define _P_NODE_H
20
21#include "base_object.h"
22#include "synchronizeable.h"
23
24#include "vector.h"
25#include "quaternion.h"
26#include <list>
27
28// FORWARD DECLARATION
29class TiXmlElement;
30
31#define PNODE_ITERATION_DELTA    .001
32
33//! Parental linkage modes
34typedef enum
35{
36  // PARENTAL FOLLOWING
37  PNODE_LOCAL_ROTATE                   = 0x0001,    //!< Rotates all the children around their centers.
38  PNODE_ROTATE_MOVEMENT                = 0x0002,    //!< Moves all the children around the center of their parent, without the rotation around their own centers.
39
40  PNODE_MOVEMENT                       = 0x0004,    //!< Moves all children along with the parent.
41  // special linkage modes
42  PNODE_ALL                            = 0x0003,    //!< Moves all children around the center of their parent, and also rotates their centers
43  PNODE_ROTATE_AND_MOVE                = 0x0005,    //!< Rotates all children around their axis, and moves them as the Parent Moves, but does not rotate around the center of their parent.
44
45
46  // REPARENTING
47  PNODE_REPARENT_TO_NULL               = 0x0010,    //!< Reparents to the Null, if the Parent is Removed. Meaning the Node wont have a parent anymore.
48  PNODE_REPARENT_TO_PARENTS_PARENT     = 0x0020,    //!< Reparents the Node to the parents (old) parent it the parent gets removed.
49  /////////////////////////////////////////////     //  ELSE: Reparents to the NullParent.
50  PNODE_REPARENT_DELETE_CHILDREN       = 0x0040,    //!< Deletes the Children of the node when This Node is Removed. (Use with care).
51  /// FIXME
52  PNODE_REPARENT_KEEP_POSITION         = 0x0080,    //!< Tries to keep the Position if the Node is reparented.
53
54
55  // DELETION
56  PNODE_PROHIBIT_CHILD_DELETE          = 0x0100,    //!< Prohibits the Children from being deleted if this Node gets deleted.
57  PNODE_PROHIBIT_DELETE_WITH_PARENT    = 0x0200,    //!< Prohibits the Node to be deleted if the Parent is. Child will be reparented according to the Repaenting-Rules
58  PNODE_REPARENT_CHILDREN_ON_REMOVE    = 0x0400,    //!< Reparents the Children of the Node if the Node gets Removed.
59  PNODE_REPARENT_ON_PARENTS_REMOVE     = 0x0800,    //!< The Node gets Reparented if its Parent gets removed. Child will be reparented according to the Reparenting-Rules.
60
61  // VISIBILITY/ACTIVITY
62  PNODE_HIDE_CHILDREN_IF_HIDDEN        = 0x1000,    //!< Prohibits the Children from being drawn if this node isn't visible. (used for Draw))
63  PNODE_HIDE_IF_PARENT_HIDDEN          = 0x2000,    //!< Prohibits the node from being drawn if the Parent is invisible.
64  PNODE_UPDATE_CHILDREN_IF_INACTIVE    = 0x4000,    //!< Updates the Children of this Node even if the Parent is Inactive (note if this's parent is inactive children won't be updated.)
65  PNODE_STATIC_NODE                    = 0x8000,    //!< Used for nodes that do not have any moving children, and that do not move.
66
67} PARENT_MODE;
68
69//! The default mode of the translation-binding.
70#define PNODE_PARENT_MODE_DEFAULT PNODE_ALL | \
71                                  PNODE_REPARENT_KEEP_POSITION
72
73
74//! Patent Node is a Engine to calculate the position of an Object in respect to the position of its parent.
75class PNode : virtual public BaseObject, virtual public Synchronizeable
76{
77  ObjectListDeclaration(PNode);
78
79public:
80  PNode (PNode* parent = PNode::getNullParent(), long nodeFlags = PNODE_PARENT_MODE_DEFAULT);
81  virtual ~PNode ();
82
83  virtual void loadParams(const TiXmlElement* root);
84
85  void init();
86
87  // ACTIVATION //
88  inline void activateNode() { this->bActive = this->bRelCoorChanged = this->bRelDirChanged = true; };
89  inline void deactivateNode() { this->bActive = false; };
90  inline bool getNodeActiveState() { return this->bActive; };
91
92  // POSITION //
93  void setRelCoor (const Vector& relCoord);
94  void setRelCoor (float x, float y, float z);
95  void setRelCoorSoft(const Vector& relCoordSoft, float bias = 1.0);
96  void setRelCoorSoft(float x, float y, float z, float bias = 1.0);
97  /** @returns the relative position */
98  inline const Vector& getRelCoor () const { return this->prevRelCoordinate; };
99  /** @returns the Relative Coordinate Destination */
100  inline const Vector& getRelCoorSoft2D() const { return (this->toCoordinate)? *this->toCoordinate : this->relCoordinate; };
101  void setAbsCoor (const Vector& absCoord);
102  void setAbsCoor (float x, float y, float z);
103  void setAbsCoorSoft(const Vector& absCoordSoft, float bias = 1.0);
104  void setAbsCoorSoft(float x, float y, float z, float bias = 1.0);
105  /** @returns the absolute position */
106  inline const Vector& getAbsCoor () const { return this->absCoordinate; };
107  /** @returns the absolute X coordinate. */
108  inline float getAbsCoorX() { return this->absCoordinate.x; };
109  /** @returns the absolute Y Coordinate */
110  inline float getAbsCoorY() { return this->absCoordinate.y; };
111  /** @returns the absolute Z Coordinate */
112  inline float getAbsCoorZ() { return this->absCoordinate.z; };
113
114  /** @returns the absolute position */
115  inline const Vector& getLastAbsCoor () const { return this->lastAbsCoordinate; };
116
117  void shiftCoor (const Vector& shift);
118  void shiftCoor (float x, float y, float z) { this->shiftCoor(Vector(x, y, z)); };
119
120  // SPEED //
121  /** @returns the Speed of the Node */
122  inline float getSpeed() const { return this->velocity.len(); };
123  /** @returns the Velocity of the Node */
124  inline const Vector& getVelocity() const { return this->velocity; };
125
126
127  // ROTATION //
128  void setRelDir (const Quaternion& relDir);
129  void setRelDir (float angle, float x, float y, float z);
130  void setRelDirSoft(const Quaternion& relDirSoft, float bias = 1.0);
131  void setRelDirSoft(float angle, float x, float y, float z, float bias = 1.0);
132  /** @returns the relative Direction */
133  inline const Quaternion& getRelDir () const { return this->prevRelDirection; };
134  /** @returns the Relative Directional Destination */
135  inline const Quaternion& getRelDirSoft2D() const { return (this->toDirection)? *this->toDirection : this->relDirection; };
136  /** @returns a Vector pointing into the relative Direction */
137  inline Vector getRelDirV() const { return this->prevRelDirection.apply(Vector(0,1,0)); };
138  void setAbsDir (const Quaternion& absDir);
139  void setAbsDir (float angle, float x, float y, float z);
140  void setAbsDirSoft(const Quaternion& absDirSoft, float bias = 1.0);
141  void setAbsDirSoft(float angle, float x, float y, float z, float bias = 1.0);
142  void shiftDir (const Quaternion& shift);
143  /** @returns the absolute Direction */
144  inline const Quaternion& getAbsDir () const { return this->absDirection; };
145  /** @returns a Vector pointing into the absolute Direction */
146  inline Vector getAbsDirV() const { return this->absDirection.apply(Vector(0,1,0)); };
147  /** @returns A Vector pointing into the forward direction (X) of the Node */
148  inline Vector getAbsDirX() const { return this->absDirection.apply(Vector(1,0,0)); };
149  /** @returns A Vector pointing into the upward direction (Y) of the Node */
150  inline Vector getAbsDirY() const { return this->absDirection.apply(Vector(0,1,0)); };
151  /** @returns A Vector pointing into the right direction (Z) of the Node */
152  inline Vector getAbsDirZ() const { return this->absDirection.apply(Vector(0,0,1)); };
153
154
155  // PARENTING //
156  void addChild (PNode* child);
157  void addChild (const std::string& childName);
158  void removeChild (PNode* child);
159  void removeNode();
160
161  PNode* seekNextAssignedPNode(PNode* node) const;
162
163  /** @param parent the new parent of this node */
164  inline void setParent (PNode* parent) { parent->addChild(this); };
165  void setParent (const std::string& parentName);
166  /** @returns the parent of this PNode */
167  inline PNode* getParent () const { return this->parent; };
168  /** @returns the List of Children of this PNode */
169  const std::list<PNode*>& getNodesChildren() const { return this->children; };
170
171  void setParentSoft(PNode* parentNode, float bias = 1.0);
172  void setParentSoft(const std::string& parentName, float bias = 1.0);
173
174  // PARENTING_MODE AND OTHER FLAGS //
175  void setParentMode (PARENT_MODE parentMode);
176  void setParentMode (const std::string& parentingMode);
177  /** @returns the Parenting mode of this node */
178  int getParentMode() const { return 0x000f & this->parentMode; };
179
180  void addNodeFlags(unsigned short nodeFlags);
181  void removeNodeFlags(unsigned short nodeFlags);
182
183  /** @returns the NullParent, the (main) ROOT of the PNode Tree. If it does not yet exist, it will be created. */
184static PNode* getNullParent()  { return (PNode::nullParent != NULL) ? PNode::nullParent : PNode::createNullParent(); };
185
186  // UPDATING //
187  void updateNode (float dt);
188
189  // DEBUG //
190  void countChildNodes(int& nodes) const;
191  void debugNode (unsigned int depth = 1, unsigned int level = 0) const;
192  void debugDraw(unsigned int depth = 1, float size = 1.0, const Vector& color = Vector(1, 0, 0), unsigned int level = 0) const;
193
194  // HELPER_FUNCTIONS //
195  static const char* parentingModeToString(int parentingMode);
196  static PARENT_MODE stringToParentingMode(const std::string& parentingMode);
197  float distance(const PNode* node) const { return (this->getAbsCoor() - node->getAbsCoor()).len(); };
198
199private:
200  /** tells the child that the parent's Coordinate has changed */
201  inline void parentCoorChanged () { this->bRelCoorChanged = true; }
202  /** tells the child that the parent's Direction has changed */
203  inline void parentDirChanged () { this->bRelDirChanged = true; }
204public:
205  /** @returns the last calculated coordinate */
206  inline Vector getLastAbsCoor() { return this->lastAbsCoordinate; }
207private:
208  static PNode* createNullParent();
209  void reparent();
210  bool checkIntegrity(const PNode* checkParent) const;
211  void eraseChild(PNode* child);
212
213private:
214  bool               bRelCoorChanged;    //!< If Relative Coordinate has changed since last time we checked
215  bool               bRelDirChanged;     //!< If Relative Direction has changed since last time we checked
216
217  Vector             relCoordinate;      //!< coordinates relative to the parent
218  Vector             absCoordinate;      //!< absolute coordinates in the world ( from (0,0,0) )
219  Quaternion         relDirection;       //!< direction relative to the parent
220  Quaternion         absDirection;       //!< absolute direvtion in the world ( from (0,0,1) )
221
222  Vector             prevRelCoordinate;  //!< The last Relative Coordinate from the last update-Cycle.
223  Vector             lastAbsCoordinate;  //!< this is used for speedcalculation, it stores the last coordinate
224  Quaternion         prevRelDirection;   //!< The last Relative Direciton from the last update-Cycle.
225  //  Quaternion         lastAbsDirection;
226
227  Vector             velocity;           //!< Saves the velocity.
228
229  Vector*            toCoordinate;       //!< a position to which to iterate. (This is used in conjunction with setParentSoft.and set*CoorSoft)
230  Quaternion*        toDirection;        //!< a direction to which to iterate. (This is used in conjunction with setParentSoft and set*DirSoft)
231  float              bias;               //!< how fast to iterate to the given position (default is 1)
232
233  PNode*             parent;             //!< a pointer to the parent node.
234  std::list<PNode*>  children;           //!< list of the children of this PNode.
235
236  bool               bActive;            //!< If the Node is Active (for cutting off the rest of the tree in update).
237  unsigned short     parentMode;         //!< the mode of the binding
238
239
240  static PNode*      nullParent;         //!< The ROOT of the main PNode Tree.
241
242private:
243  float coorx;
244  float coory;
245  float coorz;
246
247  float rotw;
248  float rotx;
249  float roty;
250  float rotz;
251
252private:
253  int relCoordinate_handle;
254  int relDirection_handle;
255  Vector relCoordinate_write;
256  Quaternion relDirection_write;
257
258public:
259  virtual void varChangeHandler( std::list<int> & id );
260};
261
262// NULL_PARENT //
263class NullParent : public PNode
264{
265  ObjectListDeclaration(NullParent);
266  friend class PNode;
267  NullParent();
268};
269
270
271#endif /* _P_NODE_H */
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