TransformNode.cc

/*===========================================================================*\
 *                                                                           *
 *                              OpenFlipper                                  *
 *      Copyright (C) 2001-2009 by Computer Graphics Group, RWTH Aachen      *
 *                           www.openflipper.org                             *
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 *  This file is part of OpenFlipper.                                        *
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\*===========================================================================*/

/*===========================================================================*\
 *                                                                           *
 *   $Revision: 6743 $                                                       *
 *   $Author: moebius $                                                      *
 *   $Date: 2009-08-05 11:03:10 +0200 (Mi, 05. Aug 2009) $                   *
 *                                                                           *
\*===========================================================================*/




//=============================================================================
//
//  CLASS TransformNode - IMPLEMENTATION
//
//=============================================================================


//== INCLUDES =================================================================

#include "TransformNode.hh"


//== IMPLEMENTATION ========================================================== 


namespace ACG {
namespace SceneGraph {


//----------------------------------------------------------------------------

  
TransformNode::
TransformNode(BaseNode* _parent, const std::string& _name)
  : BaseNode(_parent,_name),
    center_(0.0, 0.0, 0.0),
    applyTransformation_(true)
{
  loadIdentity();
}


//----------------------------------------------------------------------------


void
TransformNode::
loadIdentity()
{
  matrix_.identity();
  inverse_matrix_.identity();

  rotation_matrix_.identity();
  inverse_rotation_matrix_.identity();
  quaternion_.identity();

  scale_matrix_.identity();
  inverse_scale_matrix_.identity();

  translation_ = Vec3d(0.0, 0.0, 0.0);
}


//----------------------------------------------------------------------------


void
TransformNode::
setIdentity()
{
  Vec3d v3 = matrix_.transform_point(center());
  set_center(v3);
  loadIdentity();
}


//----------------------------------------------------------------------------


void
TransformNode::
translate(const Vec3d& _v)
{
  translation_ += _v;
  updateMatrix();
}


//----------------------------------------------------------------------------


void
TransformNode::
rotate(double _angle, const Vec3d& _axis)
{
  quaternion_ *= Quaterniond(_axis, _angle/180.0*M_PI);
  quaternion_.normalize();
  rotation_matrix_ = quaternion_.rotation_matrix();
  inverse_rotation_matrix_ = rotation_matrix_;
  inverse_rotation_matrix_.transpose();
  updateMatrix();
}


//----------------------------------------------------------------------------


void
TransformNode::
scale(const Vec3d& _s)
{
  scale_matrix_.scale(_s);
  inverse_scale_matrix_ = scale_matrix_;
  inverse_scale_matrix_.invert();
  updateMatrix();
}

//----------------------------------------------------------------------------


void
TransformNode::
scale(const GLMatrixd& _m)
{
  scale_matrix_ *= _m;
  inverse_scale_matrix_ = scale_matrix_;
  inverse_scale_matrix_.invert();
  updateMatrix();
}


//----------------------------------------------------------------------------


void
TransformNode::
updateMatrix()
{
  // build matrix
  matrix_.identity();
  matrix_.translate(translation_);
  matrix_.translate(center_);
  matrix_ *= rotation_matrix_;
  matrix_ *= scale_matrix_;
  matrix_.translate(-center_);


  // build inverse matrix
  inverse_matrix_ = matrix_;
  inverse_matrix_.invert();
}


//----------------------------------------------------------------------------


void
TransformNode::
enter(GLState& _state, unsigned int /* _drawmode */ )
{
  _state.push_modelview_matrix();

  if ( applyTransformation_ )
    _state.mult_matrix(matrix_, inverse_matrix_);
}


//----------------------------------------------------------------------------


void
TransformNode::
leave(GLState& _state, unsigned int /* _drawmode */ )
{
  _state.pop_modelview_matrix();
}


//=============================================================================
} // namespace SceneGraph
} // namespace ACG
//=============================================================================