DtIndirectAnimatingDof.h

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/*****************************************************************************
* Copyright (c) 2025 MAK Technologies, Inc.
* All rights reserved.
*****************************************************************************/


#pragma once

#include <vrvOsg/vrvOsg.h>

#include <vrvMath/DtVector3.h>

#include <osgSim/DOFTransform>

#include <boost/utility/binary.hpp>

namespace makVrv
{
   namespace DtIndirectAnimationFlags
   {
      const unsigned int ClearAnimationOnFinish = BOOST_BINARY(0001);
      const unsigned int DontDirtyBoundOnSet        = BOOST_BINARY(0010);
      const unsigned int FreezeAnimation        = BOOST_BINARY(0100);
   };
   class DT_DLL_VRVOSG DtIndirectAnimatingDof
   {
   public:
      DtIndirectAnimatingDof(DtDe& de, osgSim::DOFTransform* dof);

      virtual ~DtIndirectAnimatingDof();
   private:
      DtIndirectAnimatingDof() = delete;
      DtIndirectAnimatingDof(const DtIndirectAnimatingDof& rhs) = delete;
      DtIndirectAnimatingDof& operator=(const DtIndirectAnimatingDof& rhs) = delete;
   public:
      virtual void updateAnimation(const osg::FrameStamp* frameStamp);

      virtual void setTranslation(const Vector3_64& trans, const Vector3_64& transVel);

      virtual void setOrientation(const Vector3_64& hpr, const Vector3_64& hprVel);

      virtual void setOrientation(const Vector3_64& hprVel, bool forceUpdate);

      virtual osgSim::DOFTransform* dof(void);

      virtual bool hasVelocity(void) const;

      virtual void setAnimationFlags(int val);

      virtual int animationFlags(void) const;
   protected:
      virtual bool update(unsigned int previousTraversalNumber, double newTime, double previousTime);

      virtual void adjustDofConstraintsIfNecessary();

      virtual void constrainTranslationAndHprIfNecessary(void);

      virtual bool hasHprLimits(void) const;
   protected:
      const DtDe& myDe;

      osg::ref_ptr<osgSim::DOFTransform> myDof;

      Vector3_64 myTrans;

      Vector3_64 myTransVel;

      Vector3_64 myHpr;

      Vector3_64 myHprVel;

      float myLastUpdate;

      float mySmoothCompleteTime;

      Vector3_64 mySmoothTransVel;

      Vector3_64 mySmoothHprVel;

      bool myHasVelocity = true;

      int myAnimationFlags = 0;
   };
}