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refframe.h /* Dynamics/Kinematics modeling and simulation library. Copyright (C) 1999 by Michael Alexander Ewert This library is free software; you can redistribute it and/or modify it under the terms of the GNU Library General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. 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 GNU Library General Public License for more details. You should have received a copy of the GNU Library General Public License along with this library; if not, write to the Free Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. */ #ifndef ctReferenceFrame_H #define ctReferenceFrame_H #include <stdio.h> #include "csphyzik/ctvector.h" #include "csphyzik/ctmatrix.h" #include "csphyzik/math3d.h" // frame of reference. position and orientation data are stored here. // uses refrence counting scheme. class ctReferenceFrame { public: ctReferenceFrame ( coord px = 0, coord py = 0, coord pz = 0, ctangle ppitch = 0, ctangle proll = 0, ctangle pyaw = 0, ctReferenceFrame *ref = NULL ); ~ctReferenceFrame() {} static ctReferenceFrame& universe (); bool is_universe () { return is_universe_frame; } bool not_universe () { return !is_universe_frame; } static void add_ref ( ctReferenceFrame &rf ) { rf.reference_count++; } static void remove_ref ( ctReferenceFrame &rf ) { if ( --rf.reference_count <= 0 ) if ( rf.not_universe() ) delete &rf; } const ctVector3 &get_offset() { return offset; } const ctVector3 &get_world_offset() { return offset; } void set_offset( const ctVector3 &v ) { offset = v; } void set_world_offset( ctVector3 &v ) { offset = v; } const ctMatrix3 &get_R () { return fTg; } const ctMatrix3 &get_this_to_parent () { return fTg; } void set_R ( const ctMatrix3 &M ) { fTg = M; gTf = fTg.get_transpose(); } void set_this_to_parent ( const ctMatrix3 &M ) { fTg = M; gTf = fTg.get_transpose(); } const ctMatrix3 &get_T() { return gTf; } const ctMatrix3 &get_parent_to_this () { return gTf; } void set_T ( const ctMatrix3 &M ) { gTf = M; fTg = gTf.get_transpose(); } void set_parent_to_this ( const ctMatrix3 &M ) { gTf = M; fTg = gTf.get_transpose(); } const ctMatrix3 &get_this_to_world() { return fTg; } void this_to_world ( ctVector3 &v ) { v = get_this_to_world()*v + get_world_offset(); // if( !T_world_calced() ) // calc_T_world(); // return T_world.This2Other( v ); } void this_to_world ( ctVector3 &v, ctVector3 &src ) { v = get_this_to_world()*src + get_world_offset(); // if( !T_world_calced() ) // calc_T_world(); // return T_world.This2Other( v ); } protected: ctMatrix3 gTf; ctMatrix3 fTg; ctVector3 offset; int reference_count; bool is_universe_frame; // bool is_T_world_calced; // true if T_world is currently valid // ctReferenceFrame *parent_frame; }; class ctDeltaReferenceFrame { public: static ctDeltaReferenceFrame& universe (); bool is_universe () { return is_universe_frame; } bool not_universe () { return !is_universe_frame; } static void add_ref ( ctDeltaReferenceFrame &rf ) { rf.reference_count++; } static void remove_ref ( ctDeltaReferenceFrame &rf ) { if ( --rf.reference_count <= 0 ) if ( rf.not_universe() ) delete &rf; } ctDeltaReferenceFrame (); ctVector3 v; ctVector3 w; protected: int reference_count; bool is_universe_frame; // true if this is the top-most reference frame }; #endif Generated for Crystal Space by doxygen 1.2.5 written by Dimitri van Heesch, ©1997-2000