SceneGraph.hpp

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#ifndef SCENEGRAPH_HPP_
#define SCENEGRAPH_HPP_
 
#include "FAST/AffineTransformation.hpp"
#include "FAST/Object.hpp"
 
namespace fast {
 
 
class FAST_EXPORT  SceneGraphNode : public Object {
    FAST_OBJECT(SceneGraphNode)
    public:
        void setTransformation(AffineTransformation::pointer transformation);
        void setParent(SceneGraphNode::pointer parent);
        SceneGraphNode::pointer getParent() const;
        AffineTransformation::pointer getTransformation() const;
        void reset();
        bool isDataNode() const;
        bool isRootNode() const;
    private:
        SceneGraphNode();
 
        SceneGraphNode::pointer mParent;
        bool mIsRootNode;
        AffineTransformation::pointer mTransformation;
};
 
class SpatialDataObject;
 
namespace SceneGraph {
    FAST_EXPORT AffineTransformation::pointer getAffineTransformationBetweenNodes(SceneGraphNode::pointer nodeA, SceneGraphNode::pointer nodeB);
    FAST_EXPORT AffineTransformation::pointer getAffineTransformationFromNode(SceneGraphNode::pointer node);
    FAST_EXPORT AffineTransformation::pointer getAffineTransformationFromData(std::shared_ptr<SpatialDataObject> node);
    FAST_EXPORT Affine3f getEigenAffineTransformationFromData(std::shared_ptr<SpatialDataObject> node);
    FAST_EXPORT void setParentNode(std::shared_ptr<SpatialDataObject> child, std::shared_ptr<SpatialDataObject> parent);
    FAST_EXPORT SceneGraphNode::pointer insertParentNodeToData(std::shared_ptr<SpatialDataObject> child, AffineTransformation::pointer transform);
    FAST_EXPORT SceneGraphNode::pointer insertParentNodeToNode(SceneGraphNode::pointer child, AffineTransformation::pointer transform);
};
 
} // end namespace fast
 
 
 
#endif /* SCENEGRAPH_HPP_ */