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transform.cpp

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00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
00002 
00003    this file is part of rcssserver3D
00004    Fri May 9 2003
00005    Copyright (C) 2002,2003 Koblenz University
00006    Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
00007    $Id: transform.cpp,v 1.9 2004/04/30 09:34:44 rollmark Exp $
00008 
00009    This program is free software; you can redistribute it and/or modify
00010    it under the terms of the GNU General Public License as published by
00011    the Free Software Foundation; version 2 of the License.
00012 
00013    This program is distributed in the hope that it will be useful,
00014    but WITHOUT ANY WARRANTY; without even the implied warranty of
00015    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016    GNU General Public License for more details.
00017 
00018    You should have received a copy of the GNU General Public License
00019    along with this program; if not, write to the Free Software
00020    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00021 */
00022 
00023 #include "transform.h"
00024 #include "sceneserver.h"
00025 
00026 using namespace boost;
00027 using namespace oxygen;
00028 using namespace salt;
00029 using namespace zeitgeist;
00030 
00031 Transform::Transform() :
00032     BaseNode()
00033 {
00034     mChangedMark = -1;
00035     mLocalTransform.Identity();
00036     mOldLocalTransform.Identity();
00037     mWorldTransform.Identity();
00038 
00039     SetName("transform");
00040 }
00041 
00042 Transform::~Transform()
00043 {
00044 }
00045 
00046 int Transform::GetChangedMark() const
00047 {
00048     return mChangedMark;
00049 }
00050 
00051 const salt::Matrix& Transform::GetLocalTransform() const
00052 {
00053     return mLocalTransform;
00054 }
00055 
00056 const salt::Matrix& Transform::GetOldLocalTransform() const
00057 {
00058     return mOldLocalTransform;
00059 }
00060 
00061 const salt::Matrix& Transform::GetWorldTransform() const
00062 {
00063     return mWorldTransform;
00064 }
00065 
00066 void Transform::SetLocalTransform(const salt::Matrix &transform)
00067 {
00068     mChangedMark = SceneServer::GetTransformMark();
00069     mOldLocalTransform = mLocalTransform;
00070 
00071     mLocalTransform = transform;
00072 }
00073 
00074 void Transform::SetWorldTransform(const salt::Matrix &transform)
00075 {
00076     shared_ptr<BaseNode> parent = shared_static_cast<BaseNode>
00077         (make_shared(mParent));
00078 
00079     if (parent.get() == 0)
00080         {
00081             return;
00082         }
00083 
00084     mChangedMark = SceneServer::GetTransformMark();
00085     mOldLocalTransform = mLocalTransform;
00086 
00087     mLocalTransform = transform;
00088     parent->SetWorldTransform(mIdentityMatrix);
00089 }
00090 
00091 void Transform::SetLocalPos(const salt::Vector3f &pos)
00092 {
00093     mChangedMark = SceneServer::GetTransformMark();
00094     mOldLocalTransform = mLocalTransform;
00095 
00096     mLocalTransform.Pos() = pos;
00097     UpdateHierarchyInternal();
00098 }
00099 
00100 void Transform::SetLocalRotation(const salt::Vector3f &rot)
00101 {
00102     mChangedMark = SceneServer::GetTransformMark();
00103     mOldLocalTransform = mLocalTransform;
00104 
00105     Vector3f pos = mLocalTransform.Pos();
00106     mLocalTransform.RotationX(gDegToRad(rot[0]));
00107     mLocalTransform.RotateY(gDegToRad(rot[1]));
00108     mLocalTransform.RotateZ(gDegToRad(rot[2]));
00109     mLocalTransform.Pos() = pos;
00110 
00111     UpdateHierarchyInternal();
00112 }
00113 
00114 void Transform::OnLink()
00115 {
00116     UpdateHierarchyInternal();
00117 }
00118 
00119 void Transform::UpdateHierarchyInternal()
00120 {
00121     shared_ptr<BaseNode> parent = shared_static_cast<BaseNode>(make_shared(mParent));
00122 
00123     // no parent, return local transform
00124     if (parent.get() == NULL)
00125         {
00126             mWorldTransform = mLocalTransform;
00127         } else
00128             {
00129                 mWorldTransform = parent->GetWorldTransform() * mLocalTransform;
00130             }
00131 }

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