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source: orxonox.OLD/trunk/src/lib/coord/p_node.h @ 9547

Last change on this file since 9547 was 9406, checked in by bensch, 18 years ago

orxonox/trunk: merged the proxy back

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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 public:
77  PNode (PNode* parent = PNode::getNullParent(), long nodeFlags = PNODE_PARENT_MODE_DEFAULT);
78  virtual ~PNode ();
79
80  virtual void loadParams(const TiXmlElement* root);
81
82  void init();
83
84  // ACTIVATION //
85  inline void activateNode() { this->bActive = this->bRelCoorChanged = this->bRelDirChanged = true; };
86  inline void deactivateNode() { this->bActive = false; };
87  inline bool getNodeActiveState() { return this->bActive; };
88
89  // POSITION //
90  void setRelCoor (const Vector& relCoord);
91  void setRelCoor (float x, float y, float z);
92  void setRelCoorSoft(const Vector& relCoordSoft, float bias = 1.0);
93  void setRelCoorSoft(float x, float y, float z, float bias = 1.0);
94  /** @returns the relative position */
95  inline const Vector& getRelCoor () const { return this->prevRelCoordinate; };
96  /** @returns the Relative Coordinate Destination */
97  inline const Vector& getRelCoorSoft2D() const { return (this->toCoordinate)? *this->toCoordinate : this->relCoordinate; };
98  void setAbsCoor (const Vector& absCoord);
99  void setAbsCoor (float x, float y, float z);
100  void setAbsCoorSoft(const Vector& absCoordSoft, float bias = 1.0);
101  void setAbsCoorSoft(float x, float y, float z, float bias = 1.0);
102  /** @returns the absolute position */
103  inline const Vector& getAbsCoor () const { return this->absCoordinate; };
104  /** @returns the absolute X coordinate. */
105  inline float getAbsCoorX() { return this->absCoordinate.x; };
106  /** @returns the absolute Y Coordinate */
107  inline float getAbsCoorY() { return this->absCoordinate.y; };
108  /** @returns the absolute Z Coordinate */
109  inline float getAbsCoorZ() { return this->absCoordinate.z; };
110
111  /** @returns the absolute position */
112  inline const Vector& getLastAbsCoor () const { return this->lastAbsCoordinate; };
113
114  void shiftCoor (const Vector& shift);
115  void shiftCoor (float x, float y, float z) { this->shiftCoor(Vector(x, y, z)); };
116
117  // SPEED //
118  /** @returns the Speed of the Node */
119  inline float getSpeed() const { return this->velocity.len(); };
120  /** @returns the Velocity of the Node */
121  inline const Vector& getVelocity() const { return this->velocity; };
122
123
124  // ROTATION //
125  void setRelDir (const Quaternion& relDir);
126  void setRelDir (float angle, float x, float y, float z);
127  void setRelDirSoft(const Quaternion& relDirSoft, float bias = 1.0);
128  void setRelDirSoft(float angle, float x, float y, float z, float bias = 1.0);
129  /** @returns the relative Direction */
130  inline const Quaternion& getRelDir () const { return this->prevRelDirection; };
131  /** @returns the Relative Directional Destination */
132  inline const Quaternion& getRelDirSoft2D() const { return (this->toDirection)? *this->toDirection : this->relDirection; };
133  /** @returns a Vector pointing into the relative Direction */
134  inline Vector getRelDirV() const { return this->prevRelDirection.apply(Vector(0,1,0)); };
135  void setAbsDir (const Quaternion& absDir);
136  void setAbsDir (float angle, float x, float y, float z);
137  void setAbsDirSoft(const Quaternion& absDirSoft, float bias = 1.0);
138  void setAbsDirSoft(float angle, float x, float y, float z, float bias = 1.0);
139  void shiftDir (const Quaternion& shift);
140  /** @returns the absolute Direction */
141  inline const Quaternion& getAbsDir () const { return this->absDirection; };
142  /** @returns a Vector pointing into the absolute Direction */
143  inline Vector getAbsDirV() const { return this->absDirection.apply(Vector(0,1,0)); };
144  /** @returns A Vector pointing into the forward direction (X) of the Node */
145  inline Vector getAbsDirX() const { return this->absDirection.apply(Vector(1,0,0)); };
146  /** @returns A Vector pointing into the upward direction (Y) of the Node */
147  inline Vector getAbsDirY() const { return this->absDirection.apply(Vector(0,1,0)); };
148  /** @returns A Vector pointing into the right direction (Z) of the Node */
149  inline Vector getAbsDirZ() const { return this->absDirection.apply(Vector(0,0,1)); };
150
151
152  // PARENTING //
153  void addChild (PNode* child);
154  void addChild (const std::string& childName);
155  void removeChild (PNode* child);
156  void removeNode();
157
158  PNode* seekNextAssignedPNode(PNode* node) const;
159
160  /** @param parent the new parent of this node */
161  inline void setParent (PNode* parent) { parent->addChild(this); };
162  void setParent (const std::string& parentName);
163  /** @returns the parent of this PNode */
164  inline PNode* getParent () const { return this->parent; };
165  /** @returns the List of Children of this PNode */
166  const std::list<PNode*>& getNodesChildren() const { return this->children; };
167
168  void setParentSoft(PNode* parentNode, float bias = 1.0);
169  void setParentSoft(const std::string& parentName, float bias = 1.0);
170
171  // PARENTING_MODE AND OTHER FLAGS //
172  void setParentMode (PARENT_MODE parentMode);
173  void setParentMode (const std::string& parentingMode);
174  /** @returns the Parenting mode of this node */
175  int getParentMode() const { return 0x000f & this->parentMode; };
176
177  void addNodeFlags(unsigned short nodeFlags);
178  void removeNodeFlags(unsigned short nodeFlags);
179
180  // NULL_PARENT //
181  /** @returns the NullParent, the (main) ROOT of the PNode Tree. If it does not yet exist, it will be created. */
182  static PNode* getNullParent()  { return (PNode::nullParent != NULL)? PNode::nullParent : PNode::createNullParent(); };
183
184  // UPDATING //
185  void updateNode (float dt);
186
187  // DEBUG //
188  void countChildNodes(int& nodes) const;
189  void debugNode (unsigned int depth = 1, unsigned int level = 0) const;
190  void debugDraw(unsigned int depth = 1, float size = 1.0, const Vector& color = Vector(1, 0, 0), unsigned int level = 0) const;
191
192  // HELPER_FUNCTIONS //
193  static const char* parentingModeToString(int parentingMode);
194  static PARENT_MODE stringToParentingMode(const std::string& parentingMode);
195  float distance(const PNode* node) const { return (this->getAbsCoor() - node->getAbsCoor()).len(); };
196
197 private:
198  /** tells the child that the parent's Coordinate has changed */
199  inline void parentCoorChanged () { this->bRelCoorChanged = true; }
200  /** tells the child that the parent's Direction has changed */
201  inline void parentDirChanged () { this->bRelDirChanged = true; }
202 public:
203  /** @returns the last calculated coordinate */
204  inline Vector getLastAbsCoor() { return this->lastAbsCoordinate; }
205 private:
206  static PNode* createNullParent();
207  void reparent();
208  bool checkIntegrity(const PNode* checkParent) const;
209  void eraseChild(PNode* child);
210
211 private:
212  bool               bRelCoorChanged;    //!< If Relative Coordinate has changed since last time we checked
213  bool               bRelDirChanged;     //!< If Relative Direction has changed since last time we checked
214
215  Vector             relCoordinate;      //!< coordinates relative to the parent
216  Vector             absCoordinate;      //!< absolute coordinates in the world ( from (0,0,0) )
217  Quaternion         relDirection;       //!< direction relative to the parent
218  Quaternion         absDirection;       //!< absolute direvtion in the world ( from (0,0,1) )
219
220  Vector             prevRelCoordinate;  //!< The last Relative Coordinate from the last update-Cycle.
221  Vector             lastAbsCoordinate;  //!< this is used for speedcalculation, it stores the last coordinate
222  Quaternion         prevRelDirection;   //!< The last Relative Direciton from the last update-Cycle.
223//  Quaternion         lastAbsDirection;
224
225  Vector             velocity;           //!< Saves the velocity.
226
227  Vector*            toCoordinate;       //!< a position to which to iterate. (This is used in conjunction with setParentSoft.and set*CoorSoft)
228  Quaternion*        toDirection;        //!< a direction to which to iterate. (This is used in conjunction with setParentSoft and set*DirSoft)
229  float              bias;               //!< how fast to iterate to the given position (default is 1)
230
231  PNode*             parent;             //!< a pointer to the parent node.
232  std::list<PNode*>  children;           //!< list of the children of this PNode.
233
234  bool               bActive;            //!< If the Node is Active (for cutting off the rest of the tree in update).
235  unsigned short     parentMode;         //!< the mode of the binding
236
237
238  static PNode*      nullParent;         //!< The ROOT of the main PNode Tree.
239
240  private:
241    float coorx;
242    float coory;
243    float coorz;
244
245    float rotw;
246    float rotx;
247    float roty;
248    float rotz;
249
250  private:
251    int relCoordinate_handle;
252    int relDirection_handle;
253    Vector relCoordinate_write;
254    Quaternion relDirection_write;
255
256  public:
257    virtual void varChangeHandler( std::list<int> & id );
258};
259
260#endif /* _P_NODE_H */
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