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From Joakim Simonsson, add s/getHPROrder method

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This commit is contained in:
Robert Osfield 2004-09-06 14:59:11 +00:00
parent add06bab8d
commit 4571238459
3 changed files with 111 additions and 14 deletions
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16
include/osgSim/DOFTransform
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@ -35,6 +35,7 @@ class OSGSIM_EXPORT DOFTransform : public osg::Transform
virtual void traverse(osg::NodeVisitor& nv);
void setMinHPR(const osg::Vec3& hpr) { _minHPR = hpr;}
const osg::Vec3& getMinHPR() const { return _minHPR;}
@ -89,6 +90,18 @@ class OSGSIM_EXPORT DOFTransform : public osg::Transform
void setLimitationFlags(unsigned long flags) { _limitationFlags = flags;}
inline unsigned long getLimitationFlags() const {return _limitationFlags;}
enum MultOrder
{
PRH,
PHR,
HPR,
HRP,
RPH,
RHP
};
void setHPRMultOrder(const MultOrder order) {_multOrder = order;}
inline const MultOrder getHPRMultOrder() const { return _multOrder;}
inline void setAnimationOn(bool do_animate) {_animationOn = do_animate;}
inline bool getAnimationOn() const {return _animationOn;}
@ -153,6 +166,9 @@ class OSGSIM_EXPORT DOFTransform : public osg::Transform
8 = z scale
*/
unsigned short _increasingFlags;
MultOrder _multOrder;
};
}

14
src/osgPlugins/osgSim/IO_DOFTransform.cpp
View File

@ -92,6 +92,16 @@ bool DOFTransform_readLocalData(Object& obj, Input& fr)
ReadVec3(setIncrementScale,"incrementScale")
ReadVec3(setCurrentScale,"currentScale")
if (fr[0].matchWord("multOrder"))
{
if (fr[1].matchWord("PRH")) dof.setHPRMultOrder(DOFTransform::PRH);
else if(fr[1].matchWord("PHR")) dof.setHPRMultOrder(DOFTransform::PHR);
else if(fr[1].matchWord("HPR")) dof.setHPRMultOrder(DOFTransform::HPR);
else if(fr[1].matchWord("HRP")) dof.setHPRMultOrder(DOFTransform::HRP);
else if(fr[1].matchWord("RHP")) dof.setHPRMultOrder(DOFTransform::RHP);
else if(fr[1].matchWord("RPH")) dof.setHPRMultOrder(DOFTransform::RPH);
}
if (fr.matchSequence("limitationFlags %i"))
{
@ -151,6 +161,10 @@ bool DOFTransform_writeLocalData(const Object& obj, Output& fw)
fw.indent()<<"incrementScale "<<transform.getIncrementScale()<<std::endl;
fw.indent()<<"currentScale "<<transform.getCurrentScale()<<std::endl;
const char* mOrderStr[] = {"PRH", "PHR", "HPR", "HRP", "RPH", "RHP"};
fw.indent()<<"multOrder "<<mOrderStr[transform.getHPRMultOrder()]<<std::endl;
fw.indent()<<"limitationFlags 0x"<<hex<<transform.getLimitationFlags()<<dec<<std::endl;
fw.indent()<<"animationOn ";

75
src/osgSim/DOFTransform.cpp
View File

@ -31,7 +31,8 @@ DOFTransform::DOFTransform():
_previousTime(0.0),
_limitationFlags(0),
_animationOn(true),
_increasingFlags(0xffff)
_increasingFlags(0xffff),
_multOrder(PRH)
{
setNumChildrenRequiringUpdateTraversal(1);
}
@ -56,7 +57,8 @@ DOFTransform::DOFTransform(const DOFTransform& dof, const osg::CopyOp& copyop):
_inversePut(dof._inversePut),
_limitationFlags(dof._limitationFlags),
_animationOn(dof._animationOn),
_increasingFlags(dof._increasingFlags)
_increasingFlags(dof._increasingFlags),
_multOrder(dof._multOrder)
{
setNumChildrenRequiringUpdateTraversal(getNumChildrenRequiringUpdateTraversal()+1);
}
@ -92,9 +94,43 @@ bool DOFTransform::computeLocalToWorldMatrix(osg::Matrix& matrix,osg::NodeVisito
current.makeTranslate(getCurrentTranslate());
//now create the local rotation:
if(_multOrder == PRH)
{
current.preMult(osg::Matrix::rotate(getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
current.preMult(osg::Matrix::rotate(getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
current.preMult(osg::Matrix::rotate(getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
}
else if(_multOrder == PHR)
{
current.preMult(osg::Matrix::rotate(getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
current.preMult(osg::Matrix::rotate(getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
current.preMult(osg::Matrix::rotate(getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
}
else if(_multOrder == HPR)
{
current.preMult(osg::Matrix::rotate(getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
current.preMult(osg::Matrix::rotate(getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
current.preMult(osg::Matrix::rotate(getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
}
else if(_multOrder == HRP)
{
current.preMult(osg::Matrix::rotate(getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
current.preMult(osg::Matrix::rotate(getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
current.preMult(osg::Matrix::rotate(getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
}
else if(_multOrder == RHP)
{
current.preMult(osg::Matrix::rotate(getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
current.preMult(osg::Matrix::rotate(getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
current.preMult(osg::Matrix::rotate(getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
}
else // _multOrder == RPH
{
current.preMult(osg::Matrix::rotate(getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
current.preMult(osg::Matrix::rotate(getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
current.preMult(osg::Matrix::rotate(getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
}
//and scale:
current.preMult(osg::Matrix::scale(getCurrentScale()));
@ -128,11 +164,42 @@ bool DOFTransform::computeWorldToLocalMatrix(osg::Matrix& matrix,osg::NodeVisito
current.makeTranslate(-getCurrentTranslate());
//now create the local rotation:
if(_multOrder == PRH)
{
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
}
else if(_multOrder == PHR)
{
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
}
else if(_multOrder == HPR)
{
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
}
else if(_multOrder == HRP)
{
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
}
else if(_multOrder == RHP)
{
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
}
else // _multOrder == MultOrder::RPH
{
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
current.postMult(osg::Matrix::rotate(-getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
}
//and scale:
current.postMult(osg::Matrix::scale(1./getCurrentScale()[0], 1./getCurrentScale()[1], 1./getCurrentScale()[2]));