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KinematicState

Object Hierarchy | Related C++ Class: KinematicState

Inheritance

SIObject
  Parameter
    KinematicState

Description

The KinematicState object represents the current pose of a X3DObject object whereas the base pose of an object is represented by the StaticKinematicState property.

The transformation state of the KinematicState object is accessible both through the KinematicState.Transform property and through its ParameterCollection. Both expose the same transformation data, but the KinematicState.Transform is convenient for mathematical manipulation (see XSIMath), while the ParameterCollection exposes the transform as it is shown on the KinematicState property page.

Methods

Properties

Examples

1. JScript Example

/*
   Example of using the SITransformation to read the local
   and global transforms of an object
*/

NewScene(null,false) ;

var oNull = Application.ActiveSceneRoot.AddNull( "ParentNull" ) ;

//Change the position and rotation of the null
//by providing a new transform

oNewLocalTransform = XSIMath.CreateTransform() ;

// Change posx, posy
oNewLocalTransform.SetTranslationFromValues( 10, 20, 0 ) ;

// set rotx to 90 degrees (pi/2 radians)
oNewLocalTransform.SetRotationFromXYZAnglesValues( XSIMath.pi / 2, 0, 0 ) ; 

oNull.Kinematics.Local.Transform = oNewLocalTransform ;


PrintLocalGlobalTransforms( oNull ) ;


var oNullChild = oNull.AddNull( "ChildNull" ) ;
PrintLocalGlobalTransforms( oNullChild ) ;


// Show but the local and global SRT of an object
function PrintLocalGlobalTransforms( in_obj )
{
   Application.LogMessage( "--------" + in_obj.Name + "---------" ) ;

   var oLocalSITranformation = in_obj.Kinematics.Local.Transform ;
   Application.LogMessage( "Local Transform" ) ;
   PrintTransformation( oLocalSITranformation ) ;

   Application.LogMessage( "" ) ;

   Application.LogMessage( "Global Transform" ) ;
   var oGlobalSITranformation = in_obj.Kinematics.Global.Transform ;
   PrintTransformation( oGlobalSITranformation ) ;

   Application.LogMessage( "" ) ;
       }


// Show the "SRT: of a SITransformation object
function PrintTransformation( in_oTransform )
{
   var oVector = XSIMath.CreateVector3();

   in_oTransform.GetScaling( oVector ) ;
   PrintVector( "Scaling:", oVector ) ;

   // In Radians
   in_oTransform.GetRotationXYZAngles( oVector ) ;
   PrintVector( "Rotation:", oVector ) ;

   in_oTransform.GetTranslation( oVector ) ;
   PrintVector( "Translation:", oVector ) ;
}

// Print a vector.  Values are rounded to 3 decimal places
function PrintVector( in_Prefix, in_oVec )
{
   Application.LogMessage( in_Prefix + " " + 
          XSIRound(in_oVec.x,3) + ", " + 
          XSIRound(in_oVec.y,3) + ", " + 
          XSIRound(in_oVec.z,3) ) ;
}


//Output: (note how the local transform of
//the Child null is relative to the center 
//of the parent null)
//
//INFO : --------ParentNull---------
//INFO : Local Transform
//INFO : Scaling: 1, 1, 1
//INFO : Rotation: 1.571, 0, 0
//INFO : Translation: 10, 20, 0
//INFO : 
//INFO : Global Transform
//INFO : Scaling: 1, 1, 1
//INFO : Rotation: 1.571, 0, 0
//INFO : Translation: 10, 20, 0
//INFO : 
//INFO : --------ChildNull---------
//INFO : Local Transform
//INFO : Scaling: 1, 1, 1
//INFO : Rotation: -1.571, 0, 0
//INFO : Translation: -10, 0, 20
//INFO : 
//INFO : Global Transform
//INFO : Scaling: 1, 1, 1
//INFO : Rotation: 0, 0, 0
//INFO : Translation: 0, 0, 0

2. JScript Example

/*
   Example of using the ParameterCollection of
   a KinematicState object
*/

var oNull = ActiveSceneRoot.AddNull( "Null" ) ;

// The transform can be set through the parameters
// of the kinematicstate object
var oLocalKinematics = oNull.Kinematics.Local ;
oLocalKinematics.Parameters( "posx" ).Value = 10 ;
oLocalKinematics.Parameters( "posy" ).Value = 20 ;
oLocalKinematics.Parameters( "rotx" ).Value = 90 ;
oLocalKinematics.Parameters( "sclz" ).Value = 3 ;

// All the SRT values, plus many more parameters can 
// be read via the parameter collection
var oAllParameters = oLocalKinematics.Parameters ;
for ( var i = 0 ; i < oAllParameters.Count ; i++ )
{
   Application.LogMessage( oAllParameters(i).ScriptName + ":" + 
              oAllParameters(i).Value ) ;
}

//Output:
//INFO : blendweight:1
//INFO : active:true
//INFO : posx:10
//INFO : posy:20
//INFO : posz:0
//INFO : rotx:90
//INFO : roty:0
//INFO : rotz:0
//INFO : quatw:0.7071067811865476
//INFO : quatx:0.7071067811865475
//INFO : quaty:0
//INFO : quatz:0
//INFO : sclx:1
//INFO : scly:1
//INFO : sclz:3
//INFO : sclorix:0
//INFO : scloriy:0
//INFO : scloriz:0
//INFO : cnsscl:true
//INFO : cnsori:true
//INFO : cnspos:true
//INFO : affbyscl:true
//INFO : affbyori:true
//INFO : posxmaxactive:false
//INFO : posxminactive:false
//INFO : posymaxactive:false
//INFO : posyminactive:false
//INFO : poszmaxactive:false
//INFO : poszminactive:false
//INFO : rotxmaxactive:false
//INFO : rotxminactive:false
//INFO : rotymaxactive:false
//INFO : rotyminactive:false
//INFO : rotzmaxactive:false
//INFO : rotzminactive:false
//INFO : siscaling:true
//INFO : rotorder:0
//INFO : pivotactive:true
//INFO : pposx:0
//INFO : pposy:0
//INFO : pposz:0
//INFO : protx:0
//INFO : proty:0
//INFO : protz:0
//INFO : psclx:1
//INFO : pscly:1
//INFO : psclz:1
//INFO : pivotcompactive:true
//INFO : pcposx:0
//INFO : pcposy:0
//INFO : pcposz:0
//INFO : pcrotx:0
//INFO : pcroty:0
//INFO : pcrotz:0
//INFO : pcsclx:1
//INFO : pcscly:1
//INFO : pcsclz:1
//INFO : nposx:0
//INFO : nposy:0
//INFO : nposz:0
//INFO : nrotx:0
//INFO : nroty:0
//INFO : nrotz:0
//INFO : nsclx:1
//INFO : nscly:1
//INFO : nsclz:1
//INFO : nsclorix:0
//INFO : nscloriy:0
//INFO : nscloriz:0

See Also

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