Changeset 3565 in orxonox.OLD for orxonox/trunk/src/lib

Timestamp:

Mar 15, 2005, 7:27:44 PM (20 years ago)

Author:

bensch

Message:

orxonox/trunk: patched the pNode, now there exists the ability for advanced linkage-modes

Location:

orxonox/trunk/src/lib/coord

Files:

• null_parent.cc (modified) (2 diffs)
• p_node.cc (modified) (5 diffs)
• p_node.h (modified) (4 diffs)

orxonox/trunk/src/lib/coord/null_parent.cc

@@ -40 +40 @@
   printf("NullParent::NullParent() - making new NullParent, there can only be one..\n");
   this->parent = this;
-  this->mode = ALL;
+  this->mode = PNODE_ALL;
   this->setName("NullParent");
 }
@@ -49 +49 @@
   singletonRef = this;
   this->parent = this;
-  this->mode = ALL;
+  this->mode = PNODE_ALL;
   this->absCoordinate = *absCoordinate;
   this->setName("NullParent");

orxonox/trunk/src/lib/coord/p_node.cc

@@ -301 +301 @@
    use this to add a child to this node.
 */
-void PNode::addChild (PNode* pNode, parentingMode mode)
+void PNode::addChild (PNode* pNode, int parentingMode)
 {
   if( pNode->parent != NULL )
@@ -308 +308 @@
       pNode->parent->children->remove(pNode);
     }
-  pNode->mode = mode;
+  pNode->mode = parentingMode;
   pNode->parent = this;
   this->children->add(pNode);
@@ -360 +360 @@
    \param mode the mode of the bind-type.
 */
-void PNode::setMode (parentingMode mode)
-{
-  this->mode = mode;
+void PNode::setMode (int parentingMode)
+{
+  this->mode = parentingMode;
 }
 
@@ -370 +370 @@
    \return the mode of the bind-type.
 */
-parentingMode PNode::getMode()
+int PNode::getMode()
 {
   return this->mode;
@@ -411 +411 @@
   PRINTF(2)("PNode::update - %s - (%f, %f, %f)\n", this->objectName, this->absCoordinate.x, this->absCoordinate.y, this->absCoordinate.z);
   // printf("%s", this->objectName);
-
-      if( this->mode == MOVEMENT )
+  printf("%d:", this->mode);
+  if(this->mode & PNODE_MOVEMENT )
+    {
+      printf("4\n");
+      if( this->bAbsCoorChanged /*&& this->timeStamp != DataTank::timeStamp*/)
         {
-          if( this->bAbsCoorChanged /*&& this->timeStamp != DataTank::timeStamp*/)
+          /* if you have set the absolute coordinates this overrides all other changes */
+          this->relCoordinate = this->absCoordinate - parent->getAbsCoor ();
+        }
+      else if( this->bRelCoorChanged /*&& this->timeStamp != DataTank::timeStamp*/)
+        {
+          /*this is bad style... must be deleted later - just for testing*/
+          if( this->parent == NULL)
             {
-              /* if you have set the absolute coordinates this overrides all other changes */
-              this->relCoordinate = this->absCoordinate - parent->getAbsCoor ();
+              this->absCoordinate = this->relCoordinate;
             }
-          else if( this->bRelCoorChanged /*&& this->timeStamp != DataTank::timeStamp*/)
-            {
-              /*this is bad style... must be deleted later - just for testing*/
-              if( this->parent == NULL)
-                {
-                this->absCoordinate = this->relCoordinate;
-                }
-              else
-                this->absCoordinate = parent->getAbsCoor() + this->relCoordinate;             /* update the current absCoordinate */
-            }
+          else
+            this->absCoordinate = parent->getAbsCoor() + this->relCoordinate;         /* update the current absCoordinate */
         }
-      
-      if( this->mode == ROTATION || this->mode == ALL)
+    }
+  
+  if( this->mode & PNODE_LOCAL_ROTATE)
+    {
+      printf("1\n");
+      if( this->bAbsDirChanged /*&& this->timeStamp != DataTank::timeStamp*/)
         {
-          if( this->bAbsDirChanged /*&& this->timeStamp != DataTank::timeStamp*/)
-            {
-              /* if you have set the absolute coordinates this overrides all other changes */
-              this->relDirection = this->absDirection - parent->getAbsDir();
-            }
-          else if( this->bRelDirChanged /*&& this->timeStamp != DataTank::timeStamp*/)
-            {
-              /* update the current absDirection - remember * means rotation around sth.*/
-              this->absDirection = parent->getAbsDir() * this->relDirection;
-            }
+          /* if you have set the absolute coordinates this overrides all other changes */
+          this->relDirection = this->absDirection - parent->getAbsDir();
         }
-      
-      if( this->mode == ALL)
+      else if( this->bRelDirChanged /*&& this->timeStamp != DataTank::timeStamp*/)
         {
-          if( this->bAbsCoorChanged /*&& this->timeStamp != DataTank::timeStamp*/)
-            {
-              /* if you have set the absolute coordinates this overrides all other changes */
-              this->relCoordinate = this->absCoordinate - parent->getAbsCoor ();
-            }
-          else if( this->bRelCoorChanged /*&& this->timeStamp != DataTank::timeStamp*/)
-            {
-              /*this is bad style... must be deleted later - just for testing*/
-              if( this->parent == NULL)
-                this->absCoordinate = this->relCoordinate;
-              else
-                this->absCoordinate = parent->getAbsCoor() + parent->getAbsDir().apply(this->relCoordinate);          /* update the current absCoordinate */
-            }
+          /* update the current absDirection - remember * means rotation around sth.*/
+          this->absDirection = parent->getAbsDir() * this->relDirection;
         }
-
-
+    }
+  
+  if( this->mode & PNODE_ROTATE_MOVEMENT)
+    {
+      printf("2\n");
+      if( this->bAbsCoorChanged /*&& this->timeStamp != DataTank::timeStamp*/)
+        {
+          /* if you have set the absolute coordinates this overrides all other changes */
+          this->relCoordinate = this->absCoordinate - parent->getAbsCoor ();
+        }
+      else if( this->bRelCoorChanged /*&& this->timeStamp != DataTank::timeStamp*/)
+        {
+          /*this is bad style... must be deleted later - just for testing*/
+          if( this->parent == NULL)
+            this->absCoordinate = this->relCoordinate;
+          else
+            this->absCoordinate = parent->getAbsCoor() + parent->getAbsDir().apply(this->relCoordinate);              /* update the current absCoordinate */
+        }
+    }
+  
+  
   PNode* pn = this->children->enumerate();
   while( pn != NULL) 

orxonox/trunk/src/lib/coord/p_node.h

@@ -30 +30 @@
 
 //! enumeration for the different translation-binding-types
-typedef enum parentingMode {MOVEMENT = 0, ROTATION, ALL};
+//typedef enum parentingMode {PNODE_LOCAL_ROTATE, PNODE_ROTATE_MOVEMENT, PNODE_ALL, PNODE_MOVEMENT, PNODE_ROTATE_AND_MOVE};
+// linkage modes
+#define PNODE_LOCAL_ROTATE       1    //!< Rotates all the children around their centers.
+#define PNODE_ROTATE_MOVEMENT    2    //!< Moves all the children around the center of their parent, without the rotation around their own centers.
+#define PNODE_MOVEMENT           4    //!< Moves all children along with the parent.
+// special linkage modes
+#define PNODE_ALL                3    //!< Moves all children around the center of their parent, and also rotates their centers
+#define 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.
+
 //! The default mode of the translation-binding.
-#define DEFAULT_MODE ALL
+#define DEFAULT_MODE PNODE_ALL
 
 //! Patent Node is a Engine to calculate the position of an Object in respect to the position of its parent.
@@ -63 +71 @@
 
   void addChild (PNode* pNode);
-  void addChild (PNode* pNode, parentingMode mode);
+  void addChild (PNode* pNode, int parentingMode);
   void removeChild (PNode* pNode);
   void remove();
@@ -71 +79 @@
   void parentCoorChanged ();
   void parentDirChanged ();
-  void setMode (parentingMode mode);
-  parentingMode getMode();
+  void setMode (int parentingMode);
+  int getMode();
 
   virtual void update ();
@@ -99 +107 @@
   Quaternion absDirection; //!< absolute direvtion in the world ( from (0,0,1) )
 
-  parentingMode mode;       //!< the mode of the binding
+  int mode;                //!< the mode of the binding
 
 };