Coin / src / nodes / SoRotor.cpp

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/**************************************************************************\
 * Copyright (c) Kongsberg Oil & Gas Technologies AS
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
 * met:
 * 
 * Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 * 
 * Redistributions in binary form must reproduce the above copyright
 * notice, this list of conditions and the following disclaimer in the
 * documentation and/or other materials provided with the distribution.
 * 
 * Neither the name of the copyright holder nor the names of its
 * contributors may be used to endorse or promote products derived from
 * this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 * HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\**************************************************************************/

/*!
  \class SoRotor SoRotor.h Inventor/nodes/SoRotor.h
  \brief The SoRotor class is a node used to animate rotations.
  \ingroup nodes

  Insert this node in your hierarchy to apply a continuous rotation
  to some geometry. Since this node inherits the SoRotation node,
  rotation is restricted around the axis specified in the
  rotation field.

  The angle value of the SoRotation::rotation field (inherited by this
  node) gives the rotation direction. If the value is larger than 0.0,
  the rotation will be done in the counterclockwise direction, if it
  is negative the rotation will be done in the clockwise direction.

  Do not set the rotation value to exactly 0.0, as rotations are
  internally handled as quaternions, and when converting from an angle
  and a rotation value to a quaternion representation, the information
  about the angle "gets lost" if there is no actual rotation.

  Note also that the rotation will start at the given angle value.

  <b>FILE FORMAT/DEFAULTS:</b>
  \code
    Rotor {
        rotation 0 0 1  0
        speed 1
        on TRUE
    }
  \endcode
*/

// *************************************************************************

#include <Inventor/nodes/SoRotor.h>

#include <Inventor/SbVec3f.h>
#include <Inventor/SoDB.h>
#include <Inventor/errors/SoDebugError.h>
#include <Inventor/fields/SoSFTime.h>
#include <Inventor/sensors/SoFieldSensor.h>

#include "coindefs.h"
#include "nodes/SoSubNodeP.h"

// *************************************************************************

/*!
  \var SoSFFloat SoRotor::speed
  Specifies the speed of rotation, in revolutions per second. Defaults
  to 1.0.
*/
/*!
  \var SoSFBool SoRotor::on
  Enable/disable rotation. Default enabled.
*/

// *************************************************************************

//
// returns the current time. First tries the realTime field, then
// SbTime::getTimeOfDay() if field is not found.
//
static SbTime
get_current_time(void)
{
  SoField * realtime = SoDB::getGlobalField("realTime");
  if (realtime && realtime->isOfType(SoSFTime::getClassTypeId())) {
    return ((SoSFTime*)realtime)->getValue();
  }
  return SbTime::getTimeOfDay();
}

class SoRotorP {
public:
  SoRotorP(SoRotor * m) { this->master = m; }

  SbTime starttime;
  SbVec3f startaxis;
  float startangle;
  SoFieldSensor * rtfieldsensor;
  SoFieldSensor * onfieldsensor;
  SoFieldSensor * rotfieldsensor;
  SoFieldSensor * speedfieldsensor;

  static void rtFieldSensorCB(void * d, SoSensor * s);
  static void fieldSensorCB(void * d, SoSensor * s);
  void setRotation(void);

private:
  SoRotor * master;
};

#define PUBLIC(p) ((p)->master)
#define PRIVATE(p) ((p)->pimpl)

SO_NODE_SOURCE(SoRotor);

/*!
  Constructor.
*/
SoRotor::SoRotor(void)
{
  PRIVATE(this) = new SoRotorP(this);

  SO_NODE_INTERNAL_CONSTRUCTOR(SoRotor);

  SO_NODE_ADD_FIELD(speed, (1.0f));
  SO_NODE_ADD_FIELD(on, (TRUE));

  SoField * f = SoDB::getGlobalField("realTime");
  PRIVATE(this)->rtfieldsensor = new SoFieldSensor(SoRotorP::rtFieldSensorCB, this);
  PRIVATE(this)->rtfieldsensor->attach(f);
  PRIVATE(this)->rtfieldsensor->setPriority(0);
  PRIVATE(this)->onfieldsensor = new SoFieldSensor(SoRotorP::fieldSensorCB, this);
  PRIVATE(this)->onfieldsensor->setPriority(0);
  PRIVATE(this)->onfieldsensor->attach(&this->on);
  PRIVATE(this)->speedfieldsensor = new SoFieldSensor(SoRotorP::fieldSensorCB, this);
  PRIVATE(this)->speedfieldsensor->setPriority(0);
  PRIVATE(this)->speedfieldsensor->attach(&this->speed);
  PRIVATE(this)->rotfieldsensor = new SoFieldSensor(SoRotorP::fieldSensorCB, this);
  PRIVATE(this)->rotfieldsensor->attach(&this->rotation);
  PRIVATE(this)->rotfieldsensor->setPriority(0);

  PRIVATE(this)->starttime = SbTime::zero();
  this->rotation.getValue(PRIVATE(this)->startaxis, PRIVATE(this)->startangle);
}


/*!
  Destructor.
*/
SoRotor::~SoRotor()
{
  delete PRIVATE(this)->rotfieldsensor;
  delete PRIVATE(this)->rtfieldsensor;
  delete PRIVATE(this)->onfieldsensor;
  delete PRIVATE(this)->speedfieldsensor;
  delete PRIVATE(this);
}

// Doc from parent.
void
SoRotor::initClass(void)
{
  SO_NODE_INTERNAL_INIT_CLASS(SoRotor, SO_FROM_INVENTOR_1);
}

// detects when some field changes value
void
SoRotorP::fieldSensorCB(void * d, SoSensor * s)
{
  SoRotor * thisp = (SoRotor *) d;

  if (s == PRIVATE(thisp)->onfieldsensor) {
    if (thisp->on.getValue() == TRUE) {
      thisp->rotation.getValue(PRIVATE(thisp)->startaxis, PRIVATE(thisp)->startangle);
      PRIVATE(thisp)->starttime = get_current_time();
    }
  }
  else if (s == PRIVATE(thisp)->speedfieldsensor) {
    thisp->rotation.getValue(PRIVATE(thisp)->startaxis, PRIVATE(thisp)->startangle);
    PRIVATE(thisp)->starttime = get_current_time();
  }
  else if (s == PRIVATE(thisp)->rotfieldsensor) {
    thisp->rotation.getValue(PRIVATE(thisp)->startaxis, PRIVATE(thisp)->startangle);
    PRIVATE(thisp)->starttime = get_current_time();
  }
}


void
SoRotorP::rtFieldSensorCB(void * d, SoSensor *)
{
  SoRotor * thisp = (SoRotor *) d;
  // got to check value of on field here in case rtfieldsensor
  // triggers before onfieldsensor.
  if (thisp->on.getValue()) {
    PRIVATE(thisp)->setRotation();
  }
}

// sets rotation based on time passed from starttime
void
SoRotorP::setRotation(void)
{
  if (this->starttime == SbTime::zero()) {
    // don't do anything first time we get here
    this->starttime = get_current_time();
    return;
  }
  SbTime difftime = get_current_time() - this->starttime;

  float diffangle = (float)
    (difftime.getValue() *
     ((double)PUBLIC(this)->speed.getValue()) * M_PI * 2.0);

  float angle = this->startangle + diffangle;

  if (angle < 0.0f) {
    angle = (float) (2.0 * M_PI - fmod((double)-angle, M_PI*2.0));
  }
  if (angle > M_PI * 2.0f) {
    angle = (float) fmod((double)angle, M_PI * 2.0);
  }
  
  this->rotfieldsensor->detach();
  PUBLIC(this)->rotation.setValue(SbRotation(this->startaxis, angle));
  this->rotfieldsensor->attach(&PUBLIC(this)->rotation);
}

#undef PRIVATE
#undef PUBLIC
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