Source/Contrib/ComplexSceneManager/Sensor/InterfaceSensors/OSGTransformationInterfaceSensor.cpp

   1 /*---------------------------------------------------------------------------*\
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  29 /*---------------------------------------------------------------------------*\
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  37 \*---------------------------------------------------------------------------*/
  38
  39 //---------------------------------------------------------------------------
  40 //  Includes
  41 //---------------------------------------------------------------------------
  42
  43 #include <cstdlib>
  44 #include <cstdio>
  45
  46 #include "OSGConfig.h"
  47
  48 #include "OSGTransformationInterfaceSensor.h"
  49 #include "OSGTransformationDeviceInterface.h"
  50
  51 OSG_BEGIN_NAMESPACE
  52
  53 // Documentation for this class is emitted in the
  54 // OSGTransformationInterfaceSensorBase.cpp file.
  55 // To modify it, please change the .fcd file
  56 // (OSGTransformationInterfaceSensor.fcd) and
  57 // regenerate the base file.
  58
  59 /***************************************************************************\
  60  *                           Class variables                               *
  61 \***************************************************************************/
  62
  63 /***************************************************************************\
  64  *                           Class methods                                 *
  65 \***************************************************************************/
  66
  67 void TransformationInterfaceSensor::initMethod(InitPhase ePhase)
  68 {
  69     Inherited::initMethod(ePhase);
  70
  71     if(ePhase == TypeObject::SystemPost)
  72     {
  73     }
  74 }
  75
  76
  77 /***************************************************************************\
  78  *                           Instance methods                              *
  79 \***************************************************************************/
  80
  81 /*-------------------------------------------------------------------------*\
  82  -  private                                                                 -
  83 \*-------------------------------------------------------------------------*/
  84
  85 /*----------------------- constructors & destructors ----------------------*/
  86
  87 TransformationInterfaceSensor::TransformationInterfaceSensor(void) :
  88      Inherited(    ),
  89     _pTrDevice(NULL)
  90 {
  91 }
  92
  93 TransformationInterfaceSensor::TransformationInterfaceSensor(
  94     const TransformationInterfaceSensor &source) :
  95
  96      Inherited(source),
  97     _pTrDevice(NULL  )
  98 {
  99 }
 100
 101 TransformationInterfaceSensor::~TransformationInterfaceSensor(void)
 102 {
 103 }
 104
 105 /*----------------------------- class specific ----------------------------*/
 106
 107 void TransformationInterfaceSensor::changed(ConstFieldMaskArg whichField,
 108                                             UInt32            origin,
 109                                             BitVector         details)
 110 {
 111     Inherited::changed(whichField, origin, details);
 112 }
 113
 114 void TransformationInterfaceSensor::dump(      UInt32    ,
 115                                          const BitVector ) const
 116 {
 117     SLOG << "Dump TransformationInterfaceSensor NI" << std::endl;
 118 }
 119
 120 Quaternion quatFromEul(Real32 rX, Real32 rY, Real32 rZ)
 121 {
 122     Quaternion returnValue;
 123
 124     Real32 cx;
 125     Real32 cy;
 126     Real32 cz;
 127     Real32 sx;
 128     Real32 sy;
 129     Real32 sz;
 130     Real32 sc;
 131     Real32 cs;
 132     Real32 cc;
 133     Real32 ss;
 134
 135     rX /= 2.0;
 136     rY /= 2.0;
 137     rZ /= 2.0;
 138
 139     cx = osgCos(rX);
 140     sx = osgSin(rX);
 141
 142     cy = osgCos(rY);
 143     sy = osgSin(rY);
 144
 145     cz = osgCos(rZ);
 146     sz = osgSin(rZ);
 147
 148     sc = sx * cy;
 149     ss = sx * sy;
 150     cs = cx * sy;
 151     cc = cx * cy;
 152
 153     returnValue.setValueAsQuat(sc * cz - cs * sz,
 154                                cs * cz + sc * sz,
 155                                cc * sz - ss * cz,
 156                                cc * cz + ss * sz);
 157
 158     return returnValue;
 159 }
 160
 161 void TransformationInterfaceSensor::frame(Time tTime, UInt32 uiFrame)
 162 {
 163     if(_pTrDevice == NULL)
 164         return;
 165
 166     Matrix mMat = _sfTransformation.getValue();
 167
 168     _pTrDevice->lock();
 169
 170     if(_pTrDevice->hasNewData() == true)
 171     {
 172         Real32 rScale = _sfTranslationScale.getValue();
 173
 174         editSField(TransformationFieldMask);
 175         editSField(TranslationFieldMask   );
 176         editSField(RotationFieldMask      );
 177
 178         _sfTranslation.getValue().setValues(
 179             _pTrDevice->getTranslate()[0] * rScale,
 180             _pTrDevice->getTranslate()[1] * rScale,
 181             _pTrDevice->getTranslate()[2] * rScale);
 182
 183         rScale = _sfRotationScale.getValue() * Pi * 2.0f;
 184
 185         _sfRotation.getValue().setValue(
 186             quatFromEul(_pTrDevice->getRotate()[0] * rScale,
 187                         _pTrDevice->getRotate()[1] * rScale,
 188                         _pTrDevice->getRotate()[2] * rScale));
 189
 190
 191         _sfRotation.getValue().getValue(_sfTransformation.getValue());
 192
 193         _pTrDevice->clearNewData();
 194
 195         _sfTransformation.getValue()[3][0] = _sfTranslation.getValue()[0];
 196         _sfTransformation.getValue()[3][1] = _sfTranslation.getValue()[1];
 197         _sfTransformation.getValue()[3][2] = _sfTranslation.getValue()[2];
 198
 199         _sfTransformation.getValue().multLeft(mMat);
 200
 201     }
 202
 203     _pTrDevice->unlock();
 204 }
 205
 206 bool TransformationInterfaceSensor::init(void)
 207 {
 208     bool returnValue = Inherited::init();
 209
 210     if(returnValue == true)
 211     {
 212         _pTrDevice =
 213             dynamic_cast<TransformationDeviceInterface *>(_pDevice.get());
 214
 215         if(_pTrDevice == NULL)
 216         {
 217             returnValue = false;
 218
 219             FWARNING(("device is not a transformation device\n"));
 220         }
 221     }
 222
 223     return returnValue;
 224 }
 225
 226 void TransformationInterfaceSensor::shutdown(void)
 227 {
 228     Inherited::shutdown();
 229
 230     _pTrDevice = NULL;
 231 }
 232
 233 OSG_END_NAMESPACE