1 | /*! |
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2 | @file p_node.h |
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3 | * 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 "base_object.h" |
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25 | #include "vector.h" |
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26 | |
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27 | |
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28 | |
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29 | // FORWARD DEFINITION \\ |
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30 | class TiXmlElement; |
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31 | template<class T> class tList; |
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32 | |
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33 | #define PNODE_ITERATION_DELTA .001 |
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34 | //! Parental linkage modes |
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35 | typedef enum |
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36 | { |
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37 | PNODE_LOCAL_ROTATE = 1, //!< Rotates all the children around their centers. |
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38 | 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 | |
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40 | PNODE_MOVEMENT = 4, //!< Moves all children along with the parent. |
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41 | // special linkage modes |
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42 | PNODE_ALL = 3, //!< Moves all children around the center of their parent, and also rotates their centers |
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43 | 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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44 | |
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45 | } PARENT_MODE; |
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46 | |
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47 | //! The default mode of the translation-binding. |
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48 | #define DEFAULT_MODE PNODE_ALL |
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49 | |
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50 | |
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51 | //! Patent Node is a Engine to calculate the position of an Object in respect to the position of its parent. |
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52 | class PNode : virtual public BaseObject { |
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53 | |
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54 | public: |
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55 | PNode (); |
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56 | PNode(const TiXmlElement* root); |
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57 | PNode (const Vector& absCoor, PNode* pNode); |
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58 | virtual ~PNode (); |
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59 | |
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60 | void loadParams(const TiXmlElement* root); |
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61 | |
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62 | void setRelCoor (const Vector& relCoord); |
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63 | void setRelCoor (float x, float y, float z); |
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64 | void setRelCoorSoft(const Vector& relCoordSoft, float bias = 1.0); |
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65 | void setRelCoorSoft(float x, float y, float z, float bias = 1.0); |
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66 | /** @returns the relative position */ |
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67 | inline const Vector& getRelCoor () const { return this->relCoordinate; }; |
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68 | void setAbsCoor (const Vector& absCoord); |
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69 | void setAbsCoor (float x, float y, float z); |
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70 | /** @returns the absolute position */ |
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71 | inline const Vector& getAbsCoor () const { return this->absCoordinate; }; |
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72 | void shiftCoor (const Vector& shift); |
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73 | |
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74 | void setRelDir (const Quaternion& relDir); |
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75 | void setRelDir (float x, float y, float z); |
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76 | void setRelDirSoft(const Quaternion& relDirSoft, float bias = 1.0); |
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77 | void setRelDirSoft(float x, float y, float z, float bias = 1.0); |
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78 | /** @returns the relative Direction */ |
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79 | inline const Quaternion& getRelDir () const { return this->relDirection; }; |
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80 | /** @returns a Vector pointing into the relative Direction */ |
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81 | inline Vector getRelDirV() const { return this->relDirection.apply(Vector(0,1,0)); }; |
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82 | void setAbsDir (const Quaternion& absDir); |
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83 | void setAbsDir (float x, float y, float z); |
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84 | /** @returns the absolute Direction */ |
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85 | inline const Quaternion& getAbsDir () const { return this->absDirection; }; |
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86 | /** @returns a Vector pointing into the absolute Direction */ |
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87 | inline Vector getAbsDirV() const { return this->absDirection.apply(Vector(0,1,0)); }; |
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88 | void shiftDir (const Quaternion& shift); |
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89 | |
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90 | /** @returns the Speed of the Node */ |
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91 | inline float getSpeed() const { return this->velocity.len(); }; |
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92 | /** @returns the Velocity of the Node */ |
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93 | inline const Vector& getVelocity() const { return this->velocity; }; |
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94 | |
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95 | |
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96 | void addChild (PNode* child, int parentingMode = DEFAULT_MODE); |
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97 | void addChild (const char* childName); |
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98 | void removeChild (PNode* child); |
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99 | void remove(); |
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100 | |
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101 | void setParent (PNode* parent); |
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102 | void setParent (const char* parentName); |
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103 | /** @returns the parent of this PNode */ |
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104 | PNode* getParent () const { return this->parent; }; |
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105 | |
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106 | void softReparent(PNode* parentNode, float bias = 1.0); |
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107 | void softReparent(const char* parentName, float bias = 1.0); |
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108 | |
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109 | /** @param parentMode sets the parentingMode of this Node */ |
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110 | void setParentMode (PARENT_MODE parentMode) { this->parentMode = parentMode; }; |
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111 | void setParentMode (const char* parentingMode); |
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112 | /** @returns the Parenting mode of this node */ |
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113 | int getParentMode() const { return this->parentMode; }; |
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114 | |
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115 | void update (float dt); |
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116 | |
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117 | void debug (unsigned int depth = 1, unsigned int level = 0) const; |
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118 | void debugDraw(unsigned int depth = 1, float size = 1.0, Vector color = Vector(1,1,1)) const; |
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119 | |
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120 | |
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121 | // helper functions // |
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122 | static const char* parentingModeToChar(int parentingMode); |
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123 | static PARENT_MODE charToParentingMode(const char* parentingMode); |
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124 | private: |
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125 | void init(PNode* parent); |
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126 | /** tells the child that the parent's Coordinate has changed */ |
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127 | inline void parentCoorChanged () { this->bRelCoorChanged = true; } |
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128 | /** tells the child that the parent's Direction has changed */ |
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129 | inline void parentDirChanged () { this->bRelDirChanged = true; } |
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130 | /** @returns the last calculated coordinate */ |
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131 | inline Vector getLastAbsCoor() { return this->lastAbsCoordinate; } |
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132 | |
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133 | |
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134 | private: |
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135 | bool bRelCoorChanged; //!< If Relative Coordinate has changed since last time we checked |
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136 | bool bRelDirChanged; //!< If Relative Direction has changed since last time we checked |
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137 | |
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138 | Vector relCoordinate; //!< coordinates relative to the parent |
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139 | Vector absCoordinate; //!< absolute coordinates in the world ( from (0,0,0) ) |
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140 | Quaternion relDirection; //!< direction relative to the parent |
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141 | Quaternion absDirection; //!< absolute direvtion in the world ( from (0,0,1) ) |
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142 | |
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143 | Vector velocity; //!< Saves the velocity. |
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144 | Vector lastAbsCoordinate; //!< this is used for speedcalculation, it stores the last coordinate |
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145 | |
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146 | |
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147 | Vector* toCoordinate; //!< a position to which to iterate. (This is used in conjunction with softReparent.and set*CoorSoft) |
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148 | Quaternion* toDirection; //!< a direction to which to iterate. (This is used in conjunction with softReparent and set*DirSoft) |
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149 | float bias; //!< how fast to iterate to the given position (default is 1) |
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150 | |
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151 | PNode* parent; //!< a pointer to the parent node |
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152 | tList<PNode>* children; //!< list of the children of this PNode |
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153 | |
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154 | unsigned int parentMode; //!< the mode of the binding |
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155 | }; |
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156 | |
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157 | #endif /* _P_NODE_H */ |
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158 | |
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