KX_SG_NodeRelationships.cpp

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/*
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
 * All rights reserved.
 *
 * The Original Code is: all of this file.
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 * ***** END GPL LICENSE BLOCK *****
 */

#include "KX_SG_NodeRelationships.h"

    KX_NormalParentRelation *
KX_NormalParentRelation::
New(
) {
    return new KX_NormalParentRelation();
}       

    bool
KX_NormalParentRelation::
UpdateChildCoordinates(
    SG_Spatial * child,
    const SG_Spatial * parent,
    bool& parentUpdated 
){
    MT_assert(child != NULL);

    if (!parentUpdated && !child->IsModified())
        return false;

    parentUpdated = true;

    if (parent==NULL) { /* Simple case */
        child->SetWorldFromLocalTransform();
        child->ClearModified();
        return true; //false;
    }
    else {
        // the childs world locations which we will update. 
        const MT_Vector3 & p_world_scale = parent->GetWorldScaling();
        const MT_Point3 & p_world_pos = parent->GetWorldPosition();
        const MT_Matrix3x3 & p_world_rotation = parent->GetWorldOrientation();

        child->SetWorldScale(p_world_scale * child->GetLocalScale());
        child->SetWorldOrientation(p_world_rotation * child->GetLocalOrientation());
        child->SetWorldPosition(p_world_pos + p_world_scale * (p_world_rotation * child->GetLocalPosition()));
        child->ClearModified();
        return true;
    }
}

    SG_ParentRelation *
KX_NormalParentRelation::
NewCopy(
){
    return new KX_NormalParentRelation();
}

KX_NormalParentRelation::
~KX_NormalParentRelation(
){
    //nothing to do
}


KX_NormalParentRelation::
KX_NormalParentRelation(
){
    // nothing to do
}

    KX_VertexParentRelation *
KX_VertexParentRelation::
New(
){
    return new KX_VertexParentRelation();
}
        
    bool
KX_VertexParentRelation::
UpdateChildCoordinates(
    SG_Spatial * child,
    const SG_Spatial * parent,
    bool& parentUpdated 
){

    MT_assert(child != NULL);

    if (!parentUpdated && !child->IsModified())
        return false;

    child->SetWorldScale(child->GetLocalScale());
    
    if (parent)
        child->SetWorldPosition(child->GetLocalPosition()+parent->GetWorldPosition());
    else
        child->SetWorldPosition(child->GetLocalPosition());
    
    child->SetWorldOrientation(child->GetLocalOrientation());
    child->ClearModified();
    return true; //parent != NULL;
}

    SG_ParentRelation *
KX_VertexParentRelation::
NewCopy(
){
    return new KX_VertexParentRelation();
};

KX_VertexParentRelation::
~KX_VertexParentRelation(
){
    //nothing to do
}


KX_VertexParentRelation::
KX_VertexParentRelation(
){
    //nothing to do
}


    KX_SlowParentRelation *
KX_SlowParentRelation::
New(
    MT_Scalar relaxation
){
    return new  KX_SlowParentRelation(relaxation);
}   

    bool
KX_SlowParentRelation::
UpdateChildCoordinates(
    SG_Spatial * child,
    const SG_Spatial * parent,
    bool& parentUpdated 
){
    MT_assert(child != NULL);

    // the child will move even if the parent is not
    parentUpdated = true;

    const MT_Vector3 & child_scale = child->GetLocalScale();
    const MT_Point3 & child_pos = child->GetLocalPosition();
    const MT_Matrix3x3 & child_rotation = child->GetLocalOrientation();

    // the childs world locations which we will update. 
    
    MT_Vector3 child_w_scale;
    MT_Point3 child_w_pos;
    MT_Matrix3x3 child_w_rotation;
        
    if (parent) {

        // This is a slow parent relation
        // first compute the normal child world coordinates.

        MT_Vector3 child_n_scale;
        MT_Point3 child_n_pos;
        MT_Matrix3x3 child_n_rotation;

        const MT_Vector3 & p_world_scale = parent->GetWorldScaling();
        const MT_Point3 & p_world_pos = parent->GetWorldPosition();
        const MT_Matrix3x3 & p_world_rotation = parent->GetWorldOrientation();

        child_n_scale = p_world_scale * child_scale;
        child_n_rotation = p_world_rotation * child_rotation;

        child_n_pos = p_world_pos + p_world_scale * 
            (p_world_rotation * child_pos);


        if (m_initialized) {

            // get the current world positions

            child_w_scale = child->GetWorldScaling();
            child_w_pos = child->GetWorldPosition();
            child_w_rotation = child->GetWorldOrientation();    

            // now 'interpolate' the normal coordinates with the last 
            // world coordinates to get the new world coordinates.

            MT_Scalar weight = MT_Scalar(1)/(m_relax + 1);
            child_w_scale = (m_relax * child_w_scale + child_n_scale) * weight;
            child_w_pos = (m_relax * child_w_pos + child_n_pos) * weight;
            // for rotation we must go through quaternion
            MT_Quaternion child_w_quat = child_w_rotation.getRotation().slerp(child_n_rotation.getRotation(), weight);
            child_w_rotation.setRotation(child_w_quat);
            //FIXME: update physics controller.
        } else {
            child_w_scale = child_n_scale;
            child_w_pos = child_n_pos;
            child_w_rotation = child_n_rotation;
            m_initialized = true;
        }
            
    } else {

        child_w_scale = child_scale;
        child_w_pos = child_pos;
        child_w_rotation = child_rotation;
    }

    child->SetWorldScale(child_w_scale);
    child->SetWorldPosition(child_w_pos);
    child->SetWorldOrientation(child_w_rotation);
    child->ClearModified();
    // this node must always be updated, so reschedule it for next time
    child->ActivateRecheduleUpdateCallback();
    
    return true; //parent != NULL;
}

    SG_ParentRelation *
KX_SlowParentRelation::
NewCopy(
){
    return new  KX_SlowParentRelation(m_relax);
}

KX_SlowParentRelation::
KX_SlowParentRelation(
    MT_Scalar relaxation
):
    m_relax(relaxation),
    m_initialized(false)
{
    //nothing to do
}

KX_SlowParentRelation::
~KX_SlowParentRelation(
){
    //nothing to do
}