void TransformNode::getSFMatrix(SFMatrix *mOut)
{
float center[3];
float rotation[4];
float scale[3];
float scaleOri[4];
float trans[3];
SFMatrix mSRI;
SFMatrix mSR;
SFMatrix mCI;
SFMatrix mC;
SFMatrix mT;
SFMatrix mR;
SFMatrix mS;
getTranslation(trans);
mT.setTranslation(trans);
getCenter(center);
mC.setTranslation(center);
getRotation(rotation);
mR.setRotation(rotation);
getScaleOrientation(scaleOri);
mSR.setRotation(scaleOri);
getScale(scale);
mS.setScaling(scale);
getScaleOrientation(scaleOri);
scaleOri[3] = -scaleOri[3];
mSRI.setRotation(scaleOri);
getCenter(center);
center[0] = -center[0];
center[1] = -center[1];
center[2] = -center[2];
mCI.setTranslation(center);
mOut->init();
mOut->add(&mT);
mOut->add(&mC);
mOut->add(&mR);
mOut->add(&mSR);
mOut->add(&mS);
mOut->add(&mSRI);
mOut->add(&mCI);
}
void TransformNode::outputContext(ostream &printStream, const char *indentString)
{
float vec[3];
float rot[4];
getTranslation(vec); printStream << indentString << "\t" << "translation " << vec[0] << " "<< vec[1] << " " << vec[2] << endl;
getRotation(rot); printStream << indentString << "\t" << "rotation " << rot[0] << " "<< rot[1] << " " << rot[2] << " " << rot[3] << endl;
getScale(vec); printStream << indentString << "\t" << "scale " << vec[0] << " "<< vec[1] << " " << vec[2] << endl;
getScaleOrientation(rot); printStream << indentString << "\t" << "scaleOrientation " << rot[0] << " "<< rot[1] << " " << rot[2] << " " << rot[3] << endl;
getCenter(vec); printStream << indentString << "\t" << "center " << vec[0] << " "<< vec[1] << " " << vec[2] << endl;
}
OSG_USING_NAMESPACE
/*! \class osg::ComponentTransform
*/
/*-------------------------------------------------------------------------*/
/* Changed */
void ComponentTransform::changed(BitVector whichField, UInt32 origin)
{
ComponentTransformPtr ptr(*this);
if((whichField & CenterFieldMask ) ||
(whichField & RotationFieldMask ) ||
(whichField & ScaleFieldMask ) ||
(whichField & ScaleOrientationFieldMask) ||
(whichField & TranslationFieldMask ) )
{
// be careful not to mark the matrix as changed here to avoid
// bouncing changes back and forth
_sfMatrix.getValue().setTransform(getTranslation (),
getRotation (),
getScale (),
getScaleOrientation(),
getCenter () );
invalidateVolume();
}
else if(whichField & Inherited::MatrixFieldMask)
{
Vec3f translation;
Quaternion rotation;
Vec3f scale;
Quaternion scaleOrientation;
Vec3f center;
_sfMatrix.getValue().getTransform(translation,
rotation,
scale,
scaleOrientation,
center );
// be careful not to mark the components as changed here to avoid
// bouncing changes back and forth
_sfTranslation .setValue(translation );
_sfRotation .setValue(rotation );
_sfScale .setValue(scale );
_sfScaleOrientation.setValue(scaleOrientation);
_sfCenter .setValue(center );
}
Inherited::changed(whichField, origin);
}
vgm::MatrixR Transform::gethMatrix() const
{
vgm::MatrixR matrix;
matrix.setTransform(
getTranslation(),
getRotation(),
getScaleFactor(),
getScaleOrientation(),
getCenter()
);
return ( matrix );
}
void CX3DHAnimSiteNode::print(int indent)
{
FILE *fp = CX3DParser::getDebugLogFp();
char *nodeName = getNodeName();
if (nodeName)
{
float x, y, z, rot;
int i, n;
CX3DParser::printIndent(indent);
fprintf(fp, "%s (%s)\n", nodeName, CX3DNode::getNodeTypeString(getNodeType()));
CX3DParser::printIndent(indent+1);
fprintf(fp, "children\n");
MFNode *nodes = getChildren();
n = nodes->count();
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
getCenter()->getValue(x, y, z);
fprintf(fp, "center : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
getRotation()->getValue(x, y, z, rot);
fprintf(fp, "rotation : (%f %f %f)(%f)\n", x, y, z, rot);
CX3DParser::printIndent(indent+1);
getScale()->getValue(x, y, z);
fprintf(fp, "scale : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
getScaleOrientation()->getValue(x, y, z, rot);
fprintf(fp, "scaleOrientation : (%f %f %f)(%f)\n", x, y, z, rot);
CX3DParser::printIndent(indent+1);
getTranslation()->getValue(x, y, z);
fprintf(fp, "translation : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
fprintf(fp, "name (%s)\n", m_name.getValue());
}
}
D3DXMATRIX Transform::GetTransform()
{
Vec3f T = getTranslation();
Vec3f C = getCenter();
Vec3f S = getScale();
Rotation R = getRotation();
Rotation SR = getScaleOrientation();
gm::matrix4f m =
gm::matrix4f::getTranslate(T) *
gm::matrix4f::getTranslate(C) *
gm::matrix4f::getRotate(gmDegrees(R.m_angle), R.m_axis) *
gm::matrix4f::getRotate(gmDegrees(SR.m_angle), SR.m_axis) *
gm::matrix4f::getScale(S) *
gm::matrix4f::getRotate(gmDegrees(SR.m_angle), -SR.m_axis) *
gm::matrix4f::getTranslate(-C);
return *(D3DXMATRIX*)&m;
}
void CX3DOpenHRPHumanoidNode::print(int indent)
{
FILE *fp = CX3DParser::getDebugLogFp();
int nMax = CX3DParser::getMaxPrintElemsForMFField();
bool bPartialPrint = false;
char *nodeName = getNodeName();
if (nodeName)
{
float x, y, z, rot;
MFNode *nodes;
int i, n;
CX3DParser::printIndent(indent);
fprintf(fp, "%s (%s)\n", nodeName, CX3DNode::getNodeTypeString(getNodeType()));
CX3DParser::printIndent(indent+1);
getCenter()->getValue(x, y, z);
fprintf(fp, "center : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
getRotation()->getValue(x, y, z, rot);
fprintf(fp, "rotation : (%f %f %f)(%f)\n", x, y, z, rot);
CX3DParser::printIndent(indent+1);
getScale()->getValue(x, y, z);
fprintf(fp, "scale : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
getScaleOrientation()->getValue(x, y, z, rot);
fprintf(fp, "scaleOrientation : (%f %f %f)(%f)\n", x, y, z, rot);
CX3DParser::printIndent(indent+1);
getTranslation()->getValue(x, y, z);
fprintf(fp, "translation : (%f %f %f)\n", x, y, z);
CX3DParser::printIndent(indent+1);
fprintf(fp, "name (%s)\n", m_name.getValue());
CX3DParser::printIndent(indent+1);
n = m_info.count();
fprintf(fp, "info [%d]\n", n);
if ((nMax > 0) && (n > nMax)) { n = nMax; bPartialPrint = true; }
else { bPartialPrint = false; }
for (i=0; i<n; i++)
{
CX3DParser::printIndent(indent+2);
fprintf(fp, "%s\n", m_info.getValue(i));
}
if (bPartialPrint)
{
CX3DParser::printIndent(indent+2);
fprintf(fp, "...\n");
}
CX3DParser::printIndent(indent+1);
nodes = getJoints();
n = nodes->count();
fprintf(fp, "joints [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
nodes = getSegments();
n = nodes->count();
fprintf(fp, "segments [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
nodes = getSites();
n = nodes->count();
fprintf(fp, "sites [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
nodes = getHumanoidBody();
n = nodes->count();
fprintf(fp, "humanoidBody [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
CX3DParser::printIndent(indent+1);
fprintf(fp, "version (%s)\n", m_version.getValue());
CX3DParser::printIndent(indent+1);
nodes = getViewpoints();
n = nodes->count();
fprintf(fp, "viewpoints [%d]\n", n);
for (i=0; i<n; i++)
{
CX3DNode *child = nodes->getNode(i);
if (child)
{
child->print(indent+2);
}
}
}
}