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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library 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 Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_COMPONENT_CONTEXTOBJECT_COORDINATESYSTEM_H
#define SOFA_COMPONENT_CONTEXTOBJECT_COORDINATESYSTEM_H
// Author: François Faure, (C) 2006
//
// Copyright: See COPYING file that comes with this distribution
#include <sofa/core/objectmodel/ContextObject.h>
#include <sofa/defaulttype/SolidTypes.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/component/component.h>
namespace sofa
{
namespace core
{
namespace objectmodel
{
class Context;
}
namespace componentmodel
{
class Topology;
}
}
namespace simulation
{
class Node;
}
namespace component
{
namespace contextobject
{
/** Defines the local coordinate system with respect to its parent.
*/
class SOFA_COMPONENT_CONTEXTOBJECT_API CoordinateSystem : public core::objectmodel::ContextObject
{
public:
typedef core::objectmodel::BaseContext::SolidTypes SolidTypes;
typedef SolidTypes::Vec Vec;
typedef SolidTypes::Rot Rot;
typedef SolidTypes::Mat Mat;
typedef SolidTypes::Coord Frame;
typedef SolidTypes::Deriv SpatialVector;
CoordinateSystem();
virtual ~CoordinateSystem()
{}
// ContextObject
virtual void apply();
virtual void draw();
virtual void reinit();
virtual void init();
/// Transform wrt parent
const Frame& getTransform() const;
/// Transform wrt parent
virtual void setTransform( const Frame& f );
/// Transform wrt world
//Frame getPositionInWorld() const;
/// Define translation in parent coordinates
//CoordinateSystem* setOrigin( const Vec& t );
/// Translation in parent coordinates
Vec getOrigin() const;
/// Define orientation (rotation of the child wrt parent) in parent coordinates
//CoordinateSystem* setOrientation( const Rot& r );
/// Orientation (rotation of the child wrt parent)
Rot getOrientation() const;
/// Define translation and orientation in parent coordinates
//CoordinateSystem* set( const Vec& t, const Rot& r );
/// wrt world, given in world coordinates
//SpatialVector getVelocityInWorld() const;
/// wrt parent frame, given in LOCAL frame
//const SpatialVector& getVelocity() const;
/// wrt parent frame, given in LOCAL frame
//CoordinateSystem* setVelocity( const SpatialVector& f );
Data< defaulttype::Vec3f > origin;
Data< defaulttype::Vec3f > orientation;
protected:
Frame positionInParent_; ///< wrt parent frame
//SpatialVector velocity_; ///< velocity wrt parent frame, given in LOCAL frame
};
} // namespace contextobject
} // namespace component
} // namespace sofa
#endif
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