/*! 
    \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 "stdincl.h"

class PNode; /* forward decleration, so that parentEntry has access to PNode */

typedef enum parentingMode {MOVEMENT = 0, ROTATION, ALL};
#define DEFAULT_MODE ALL

class PNode {

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

  void destroy ();

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

  parentingMode mode;

  Vector getRelCoor ();
  void setRelCoor (Vector* relCoord);
  Vector getAbsCoor ();
  void setAbsCoor (Vector* absCoord);
  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 setParent (PNode* parent);
  void parentCoorChanged ();
  void parentDirChanged ();
  void setMode (parentingMode mode);
  virtual void update (long timeStamp);

  void debug ();

  long timeStamp;   //! this the timeStamp of when the abs{Coordinat, Direction} has been calculated
  bool bAbsCoorChanged;
  bool bRelCoorChanged;
  bool bRelDirChanged;
  bool bAbsDirChanged;

  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) )

};

#endif /* _P_NODE_H */