root/OpenSceneGraph/trunk/include/osgSim/DOFTransform @ 13041

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1/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2006 Robert Osfield
2 *
3 * This library is open source and may be redistributed and/or modified under
4 * the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
5 * (at your option) any later version.  The full license is in LICENSE file
6 * included with this distribution, and on the openscenegraph.org website.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
11 * OpenSceneGraph Public License for more details.
12*/
13
14#ifndef OSGSIM_DOFTRANSFORM
15#define OSGSIM_DOFTRANSFORM 1
16
17//base class:
18#include <osg/Transform>
19
20#include <osgSim/Export>
21
22namespace osgSim {
23
24/** DOFTransform - encapsulates Multigen DOF behavior*/
25class OSGSIM_EXPORT DOFTransform : public osg::Transform
26{
27    public:
28        /** constructor*/
29        DOFTransform();
30
31        /**copy constructor*/
32        DOFTransform(const DOFTransform& dof, const osg::CopyOp& copyop=osg::CopyOp::SHALLOW_COPY);
33
34        META_Node(osgSim, DOFTransform);
35
36        virtual void traverse(osg::NodeVisitor& nv);
37
38
39        void setMinHPR(const osg::Vec3& hpr) { _minHPR = hpr;}
40        const osg::Vec3& getMinHPR() const { return _minHPR;}
41
42        void setMaxHPR(const osg::Vec3& hpr) {_maxHPR = hpr;}
43        const osg::Vec3& getMaxHPR() const { return _maxHPR;}
44
45        void setIncrementHPR(const osg::Vec3& hpr) {_incrementHPR = hpr;}
46        const osg::Vec3& getIncrementHPR() const { return _incrementHPR;}
47
48        void setCurrentHPR(const osg::Vec3& hpr) {_currentHPR = hpr; dirtyBound(); }
49        const osg::Vec3& getCurrentHPR() const {return _currentHPR;}
50
51        void updateCurrentHPR(const osg::Vec3& hpr);
52
53
54        void setMinTranslate(const osg::Vec3& translate) {_minTranslate = translate; }
55        const osg::Vec3& getMinTranslate() const { return _minTranslate;}
56
57        void setMaxTranslate(const osg::Vec3& translate) {_maxTranslate = translate; }
58        const osg::Vec3& getMaxTranslate() const { return _maxTranslate;}
59
60        void setIncrementTranslate(const osg::Vec3& translate) { _incrementTranslate = translate; }
61        const osg::Vec3& getIncrementTranslate() const { return _incrementTranslate;}
62
63        void setCurrentTranslate(const osg::Vec3& translate){ _currentTranslate = translate; dirtyBound(); }
64        inline const osg::Vec3& getCurrentTranslate() const { return _currentTranslate;}
65
66        void updateCurrentTranslate(const osg::Vec3& translate);
67
68
69        void setMinScale(const osg::Vec3& scale) { _minScale = scale;}
70        const osg::Vec3& getMinScale() const { return _minScale;}
71
72        void setMaxScale(const osg::Vec3& scale) { _maxScale = scale;}
73        const osg::Vec3& getMaxScale() const { return _maxScale;}
74
75        void setIncrementScale(const osg::Vec3& scale) { _incrementScale = scale;}
76        const osg::Vec3& getIncrementScale() const { return _incrementScale;}
77
78        void setCurrentScale(const osg::Vec3& scale) { _currentScale = scale; dirtyBound(); }
79        inline const osg::Vec3& getCurrentScale() const { return _currentScale;}
80
81        void updateCurrentScale(const osg::Vec3& scale);
82
83
84        void setPutMatrix(const osg::Matrix& put) { _Put = put; dirtyBound(); }
85        inline const osg::Matrix& getPutMatrix() const {return _Put;}
86
87        void setInversePutMatrix(const osg::Matrix& inversePut) { _inversePut = inversePut; dirtyBound(); }
88        inline const osg::Matrix& getInversePutMatrix() const {return _inversePut;}
89
90        void setLimitationFlags(unsigned long flags) { _limitationFlags = flags;}
91        inline unsigned long getLimitationFlags() const {return _limitationFlags;}
92
93        enum MultOrder
94        {
95            PRH,
96            PHR,
97            HPR,
98            HRP,
99            RPH,
100            RHP
101        };
102
103        void setHPRMultOrder(MultOrder order) { _multOrder = order; }
104        inline MultOrder getHPRMultOrder() const { return _multOrder;}
105
106        void setAnimationOn(bool do_animate);
107        inline bool getAnimationOn() const { return _animationOn; }
108
109        void animate(float deltaTime);
110
111        virtual bool computeLocalToWorldMatrix(osg::Matrix& matrix,osg::NodeVisitor* nv) const;
112
113        virtual bool computeWorldToLocalMatrix(osg::Matrix& matrix,osg::NodeVisitor* nv) const;
114
115    protected:
116
117        virtual ~DOFTransform() {}
118
119        unsigned int    _previousTraversalNumber;
120        double          _previousTime;
121
122        osg::Vec3 _minHPR;
123        osg::Vec3 _maxHPR;
124        osg::Vec3 _currentHPR;
125        osg::Vec3 _incrementHPR;
126
127        osg::Vec3 _minTranslate;
128        osg::Vec3 _maxTranslate;
129        osg::Vec3 _currentTranslate;
130        osg::Vec3 _incrementTranslate;
131
132        osg::Vec3 _minScale;
133        osg::Vec3 _maxScale;
134        osg::Vec3 _currentScale;
135        osg::Vec3 _incrementScale;
136
137        osg::Matrix _Put;
138        osg::Matrix _inversePut;
139
140        unsigned long _limitationFlags;
141        /* bits from left to right
142        0 = x translation limited (2^31)
143        1 = y translation limited (2^30)
144        2 = z translation limited (2^29)
145        3 = pitch limited (2^28)
146        4 = roll limited (2^27)
147        5 = yaw limited (2^26)
148        6 = x scale limited (2^25)
149        7 = y scale limited (2^24)
150        8 = z scale limited (2^23)
151
152        else reserved
153        */
154
155        bool _animationOn;
156        /** flags indicating whether value is incerasing or decreasing in animation
157        bits form right to left, 1 means increasing while 0 is decreasing
158        0 = x translation
159        1 = y translation
160        2 = z translation
161        3 = pitch
162        4 = roll
163        5 = yaw
164        6 = x scale
165        7 = y scale
166        8 = z scale
167        */
168        unsigned short _increasingFlags;
169
170        MultOrder _multOrder;
171
172    };
173
174}
175#endif
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