/usr/include/osgSim/DOFTransform is in libopenscenegraph-dev 3.2.1-7ubuntu4.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 | /* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2006 Robert Osfield
*
* This library is open source and may be redistributed and/or modified under
* the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
* (at your option) any later version. The full license is in LICENSE file
* included with this distribution, and on the openscenegraph.org website.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* OpenSceneGraph Public License for more details.
*/
#ifndef OSGSIM_DOFTRANSFORM
#define OSGSIM_DOFTRANSFORM 1
//base class:
#include <osg/Transform>
#include <osgSim/Export>
namespace osgSim {
/** DOFTransform - encapsulates Multigen DOF behavior*/
class OSGSIM_EXPORT DOFTransform : public osg::Transform
{
public:
/** constructor*/
DOFTransform();
/**copy constructor*/
DOFTransform(const DOFTransform& dof, const osg::CopyOp& copyop=osg::CopyOp::SHALLOW_COPY);
META_Node(osgSim, DOFTransform);
virtual void traverse(osg::NodeVisitor& nv);
void setMinHPR(const osg::Vec3& hpr) { _minHPR = hpr;}
const osg::Vec3& getMinHPR() const { return _minHPR;}
void setMaxHPR(const osg::Vec3& hpr) {_maxHPR = hpr;}
const osg::Vec3& getMaxHPR() const { return _maxHPR;}
void setIncrementHPR(const osg::Vec3& hpr) {_incrementHPR = hpr;}
const osg::Vec3& getIncrementHPR() const { return _incrementHPR;}
void setCurrentHPR(const osg::Vec3& hpr) {_currentHPR = hpr; dirtyBound(); }
const osg::Vec3& getCurrentHPR() const {return _currentHPR;}
void updateCurrentHPR(const osg::Vec3& hpr);
void setMinTranslate(const osg::Vec3& translate) {_minTranslate = translate; }
const osg::Vec3& getMinTranslate() const { return _minTranslate;}
void setMaxTranslate(const osg::Vec3& translate) {_maxTranslate = translate; }
const osg::Vec3& getMaxTranslate() const { return _maxTranslate;}
void setIncrementTranslate(const osg::Vec3& translate) { _incrementTranslate = translate; }
const osg::Vec3& getIncrementTranslate() const { return _incrementTranslate;}
void setCurrentTranslate(const osg::Vec3& translate){ _currentTranslate = translate; dirtyBound(); }
inline const osg::Vec3& getCurrentTranslate() const { return _currentTranslate;}
void updateCurrentTranslate(const osg::Vec3& translate);
void setMinScale(const osg::Vec3& scale) { _minScale = scale;}
const osg::Vec3& getMinScale() const { return _minScale;}
void setMaxScale(const osg::Vec3& scale) { _maxScale = scale;}
const osg::Vec3& getMaxScale() const { return _maxScale;}
void setIncrementScale(const osg::Vec3& scale) { _incrementScale = scale;}
const osg::Vec3& getIncrementScale() const { return _incrementScale;}
void setCurrentScale(const osg::Vec3& scale) { _currentScale = scale; dirtyBound(); }
inline const osg::Vec3& getCurrentScale() const { return _currentScale;}
void updateCurrentScale(const osg::Vec3& scale);
void setPutMatrix(const osg::Matrix& put) { _Put = put; dirtyBound(); }
inline const osg::Matrix& getPutMatrix() const {return _Put;}
void setInversePutMatrix(const osg::Matrix& inversePut) { _inversePut = inversePut; dirtyBound(); }
inline const osg::Matrix& getInversePutMatrix() const {return _inversePut;}
void setLimitationFlags(unsigned long flags) { _limitationFlags = flags;}
inline unsigned long getLimitationFlags() const {return _limitationFlags;}
enum MultOrder
{
PRH,
PHR,
HPR,
HRP,
RPH,
RHP
};
void setHPRMultOrder(MultOrder order) { _multOrder = order; }
inline MultOrder getHPRMultOrder() const { return _multOrder;}
void setAnimationOn(bool do_animate);
inline bool getAnimationOn() const { return _animationOn; }
void animate(float deltaTime);
virtual bool computeLocalToWorldMatrix(osg::Matrix& matrix,osg::NodeVisitor* nv) const;
virtual bool computeWorldToLocalMatrix(osg::Matrix& matrix,osg::NodeVisitor* nv) const;
protected:
virtual ~DOFTransform() {}
unsigned int _previousTraversalNumber;
double _previousTime;
osg::Vec3 _minHPR;
osg::Vec3 _maxHPR;
osg::Vec3 _currentHPR;
osg::Vec3 _incrementHPR;
osg::Vec3 _minTranslate;
osg::Vec3 _maxTranslate;
osg::Vec3 _currentTranslate;
osg::Vec3 _incrementTranslate;
osg::Vec3 _minScale;
osg::Vec3 _maxScale;
osg::Vec3 _currentScale;
osg::Vec3 _incrementScale;
osg::Matrix _Put;
osg::Matrix _inversePut;
unsigned long _limitationFlags;
/* bits from left to right
0 = x translation limited (2^31)
1 = y translation limited (2^30)
2 = z translation limited (2^29)
3 = pitch limited (2^28)
4 = roll limited (2^27)
5 = yaw limited (2^26)
6 = x scale limited (2^25)
7 = y scale limited (2^24)
8 = z scale limited (2^23)
else reserved
*/
bool _animationOn;
/** flags indicating whether value is incerasing or decreasing in animation
bits form right to left, 1 means increasing while 0 is decreasing
0 = x translation
1 = y translation
2 = z translation
3 = pitch
4 = roll
5 = yaw
6 = x scale
7 = y scale
8 = z scale
*/
unsigned short _increasingFlags;
MultOrder _multOrder;
};
}
#endif
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