FGFS-4.1/OpenSceneGraph
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

From Joakim Simonsson, add s/getHPROrder method

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

87
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:
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
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:
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
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]));