Mbs3DComponent.hh

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#ifdef OPEN_GL
 
#ifndef _MBS_3D_COMPONENT_HH_
#define _MBS_3D_COMPONENT_HH_
 
#ifndef degreesToRadians
    #define degreesToRadians(x) x*(3.141592f/180.0f)
#endif
 
#ifndef GLM_FORCE_RADIANS
    #define GLM_FORCE_RADIANS
#endif
 
#include <glm.hpp>
#include <vector>
 
namespace OpenGLMbs{
 
// forward declaration
class MbsWorld3D;
class Joint3D;
class Base3D;
 
// mbs component types
enum {COMP_TYPE_COMPONENT, COMP_TYPE_BODY, COMP_TYPE_ABSTRACT, COMP_TYPE_ANCHOR, COMP_TYPE_JOINT, COMP_TYPE_BASE};
 
class Mbs3DComponent
{
    public:
        Mbs3DComponent(MbsWorld3D *world_3d, const char* name, glm::mat4 const& abs_mat = glm::mat4(1.0f));
        virtual ~Mbs3DComponent();
 
        void SetAbsMat(glm::mat4 const& abs_mat) { this->abs_mat = abs_mat; }
 
        glm::mat4 GetAbsMat() const { return abs_mat; }
 
        int GetCompType() const { return comp_type; }
 
        void ReleaseChildList();
 
        Joint3D* AddT1(const char* name, float joint_value = 0.0f);
        Joint3D* AddT2(const char* name, float joint_value = 0.0f);
        Joint3D* AddT3(const char* name, float joint_value = 0.0f);
        Joint3D* AddR1(const char* name, float joint_value = 0.0f);
        Joint3D* AddR2(const char* name, float joint_value = 0.0f);
        Joint3D* AddR3(const char* name, float joint_value = 0.0f);
 
        Base3D* AddBaseJoint();
 
        bool IsName(const char* name);
 
        Mbs3DComponent* Get3DCompName(int comp_type, const char* name);
 
        virtual void UpdateAbsMatTree();
 
        virtual void PrintTree(int level);
 
    protected:
        MbsWorld3D *world_3d; 
 
        glm::mat4 abs_mat; 
 
        std::vector<Joint3D*> joint_child_list; 
 
        std::vector<Mbs3DComponent*> mbs_3d_child_list; 
 
        char* name; 
 
        int comp_type; 
 
        // function prototypes
        Joint3D* AddJoint(const char* name, int joint_type, float joint_value);
        void PrintName(int level);
        void PrintChildList(int level);
 
        glm::mat4 TransMat(float x, float y, float z)
        {
            return glm::mat4(
                1.0f, 0.0f, 0.0f, 0.0f,
                0.0f, 1.0f, 0.0f, 0.0f,
                0.0f, 0.0f, 1.0f, 0.0f,
                   x,    y,    z, 1.0f
                );
        }
 
        glm::mat4 ScaleMat(float x, float y, float z)
        {
            return glm::mat4(
                 x  , 0.0f, 0.0f, 0.0f,
                0.0f,  y  , 0.0f, 0.0f,
                0.0f, 0.0f,  z  , 0.0f,
                0.0f, 0.0f, 0.0f, 1.0f
                );
        }
 
        glm::mat4 RotMatX(float angle_rad)
        {
            float cos_a, sin_a;
 
            cos_a = cos(angle_rad);
            sin_a = sin(angle_rad);
 
            return glm::mat4(
                1.0f,  0.0f , 0.0f , 0.0f,
                0.0f,  cos_a, sin_a, 0.0f,
                0.0f, -sin_a, cos_a, 0.0f,
                0.0f,  0.0f , 0.0f , 1.0f
                );
        }
 
        glm::mat4 RotMatY(float angle_rad)
        {
            float cos_a, sin_a;
 
            cos_a = cos(angle_rad);
            sin_a = sin(angle_rad);
 
            return glm::mat4(
                cos_a, 0.0f, -sin_a, 0.0f,
                0.0f , 1.0f,  0.0f , 0.0f,
                sin_a, 0.0f,  cos_a, 0.0f,
                0.0f , 0.0f,  0.0f , 1.0f
                );
        }
 
        glm::mat4 RotMatZ(float angle_rad)
        {
            float cos_a, sin_a;
 
            cos_a = cos(angle_rad);
            sin_a = sin(angle_rad);
 
            return glm::mat4(
                 cos_a, sin_a, 0.0f, 0.0f,
                -sin_a, cos_a, 0.0f, 0.0f,
                 0.0f , 0.0f , 1.0f, 0.0f,
                 0.0f , 0.0f , 0.0f, 1.0f
                );
        }
};
 
}
 
#endif
#endif