| 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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| 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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| 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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| 24 | #include "stdincl.h" |
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| 25 | |
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| 26 | class PNode; /* forward decleration, so that parentEntry has access to PNode */ |
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| 27 | |
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| 28 | typedef enum parentingMode {MOVEMENT = 0, ROTATION, ALL}; |
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| 29 | #define DEFAULT_MODE ALL |
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| 30 | |
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| 31 | class PNode { |
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| 32 | |
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| 33 | public: |
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| 34 | PNode (); |
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| 35 | ~PNode (); |
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| 36 | |
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| 37 | parentingMode mode; |
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| 38 | |
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| 39 | Vector getRelCoor (); |
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| 40 | void setRelCoor (Vector relCoord); |
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| 41 | Vector getAbsCoor (); |
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| 42 | void setAbsCoor (Vector absCoord); |
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| 43 | void shiftCoor (Vector shift); |
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| 44 | |
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| 45 | Quaternion getRelDir (); |
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| 46 | void setRelDir (Quaternion relDir); |
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| 47 | Quaternion getAbsDir (); |
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| 48 | void setAbsDir (Quaternion absDir); |
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| 49 | void shiftDir (Quaternion shift); |
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| 50 | |
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| 51 | void addChild (PNode* pNode); |
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| 52 | void addChild (PNode* pNode, parentingMode mode); |
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| 53 | void removeChild (PNode* pNode); |
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| 54 | void setParent (PNode* parent); |
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| 55 | void update (long timeStamp); |
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| 56 | |
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| 57 | private: |
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| 58 | long timeStamp; //! this the timeStamp of when the abs{Coordinat, Direction} has been calculated |
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| 59 | bool bCoorChanged; |
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| 60 | bool bDirChanged; |
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| 61 | |
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| 62 | Vector relCoordinate; //! coordinates relative to the parent |
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| 63 | Vector absCoordinate; //! absolute coordinates in the world ( from (0,0,0) ) |
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| 64 | Quaternion relDirection; //! direction relative to the parent |
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| 65 | Quaternion absDirection; //! absolute direvtion in the world ( from (0,0,1) ) |
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| 66 | |
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| 67 | PNode* parent; |
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| 68 | tList<PNode>* children; //! list of the children |
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| 69 | |
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| 70 | }; |
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| 71 | |
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| 72 | #endif /* _P_NODE_H */ |
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