DynamicTransform.h

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//    Copyright 2004, SenseGraphics AB
//
//    This file is part of H3D API.
//
//    H3D API 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.
//
//    H3D API 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 H3D API; if not, write to the Free Software
//    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
//
//    A commercial license is also available. Please contact us at 
//    www.sensegraphics.com for more information.
//
//
//
#ifndef __DYNAMICTRANSFORM_H__
#define __DYNAMICTRANSFORM_H__

#include "MatrixTransform.h"
#include "PeriodicUpdate.h"
#include "RK4.h"
#include "SFMatrix3f.h"
#include "SFQuaternion.h"

namespace H3D {

  class H3DAPI_API DynamicTransform : public MatrixTransform {
  public:

    class H3DAPI_API SFMotion: 
      public  TypedField< H3D::SFVec3f, Types< SFTime > >  {
    public:
      
      SFMotion(): last_t( 0 ) {
      }
      
      H3DTime last_t;
    protected:
      virtual void update();

      virtual void updateState( LMState &state, H3DTime dt );
    };

    class H3DAPI_API SFMatrix4f: 
      public TypedField< H3D::SFMatrix4f,
                         Types< SFRotation, SFVec3f > >{
    protected:
 
      virtual void update();
    };

    class H3DAPI_API SFVelocity: public TypedField< SFVec3f, 
                                                    Types< SFFloat, 
                                                           SFVec3f > > {
      virtual void update() {
        H3DFloat mass = 
          static_cast< SFFloat * >( routes_in[0] )->getValue();
        const Vec3f &momentum = 
          static_cast< SFVec3f * >( routes_in[1] )->getValue();
        value = momentum / mass;
      }
    };

    class H3DAPI_API SFSpin: public TypedField< SFQuaternion, 
                                                Types< SFVec3f, 
                                                       SFRotation > > {
      virtual void update() {
        const Vec3f & ang_vel = 
          static_cast< SFVec3f * >( routes_in[0] )->getValue();
        const Rotation &orn = 
          static_cast< SFRotation * >( routes_in[1] )->getValue();
        value = 0.5 * Quaternion(ang_vel.x, ang_vel.y, ang_vel.z, 0) * (Quaternion)orn;
      }
    };

    class H3DAPI_API SFAngularVelocity: public TypedField< SFVec3f, 
                                                           Types< SFMatrix3f,
                                                                  SFVec3f > > {
      virtual void update() {
        const Matrix3f &inertia_tensor = 
          static_cast< SFMatrix3f * >( routes_in[0] )->getValue();
        const Vec3f &ang_momentum = 
          static_cast< SFVec3f * >( routes_in[1] )->getValue();
        value = inertia_tensor.inverse() * ang_momentum;
      }
    };

    DynamicTransform( Inst< MFChild    > _addChildren              = 0,
                  Inst< MFChild    > _removeChildren           = 0,
                  Inst< MFChild    > _children                 = 0,
                  Inst< SFNode     > _metadata                 = 0,
                  Inst< SFBound    > _bound                    = 0,
                  Inst< SFVec3f    > _bboxCenter               = 0,
                  Inst< SFVec3f    > _bboxSize                 = 0,
                  Inst< SFTransformedBound > _transformedBound = 0,    
                  Inst< SFMatrix4f > _matrix                   = 0,
                  Inst< SFMatrix4f > _accumulatedForward       = 0,
                  Inst< SFMatrix4f > _accumulatedInverse       = 0,
                  Inst< SFVec3f          > _position         = 0,
                  Inst< SFRotation       > _orientation      = 0,
                  Inst< SFVelocity       > _velocity         = 0,
                  Inst< SFVec3f          > _momentum         = 0,
                  Inst< SFVec3f          > _force            = 0,
                  Inst< SFAngularVelocity > _angularVelocity  = 0,
                  Inst< SFVec3f          > _angularMomentum  = 0, 
                  Inst< SFSpin           > _spin             = 0,
                  Inst< SFVec3f          > _torque           = 0,
                  Inst< SFFloat          > _mass             = 0,
                  Inst< SFMatrix3f       > _inertiaTensor    = 0,
                  Inst< SFMotion         > _motion           = 0 );

    auto_ptr<    SFVec3f    >  position;

    auto_ptr<    SFRotation >  orientation;

    auto_ptr<    SFVec3f    >  velocity;
    
    auto_ptr<    SFVec3f    >  momentum;
    
    auto_ptr<    SFVec3f    >  force;

    auto_ptr<    SFVec3f    >  angularVelocity;

    auto_ptr<    SFVec3f    >  angularMomentum;

    auto_ptr<    SFSpin    >  spin;

    auto_ptr<    SFVec3f    >  torque;

    auto_ptr<    SFFloat    >  mass;

    auto_ptr<    SFMatrix3f  >  inertiaTensor;

    auto_ptr<    SFMotion    >  motion;
    
    static H3DNodeDatabase database;
  };
}

#endif

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