ReferenceFrame – vkframes

type, public :: ReferenceFrame

A reference frame (see the module documentation).

Inherits

Help

Components

Type	Visibility	Attributes		Name		Initial
real(kind=wp),	private		::	attitude_(4)	=	quat_identity	relative to the parent: quaternion [x, y, z, w]
integer,	private		::	axes	=	ALL_AXES	OpenFrames' defaults: all shown
integer,	private		::	axes_labels	=	ALL_AXES	axes labels shown (as axes)
logical,	private		::	axes_moved	=	.false.	set by move_*_axis (else reposition_axes places them)
type(c_ptr),	private		::	axis_arrow(3)	=	c_null_ptr	the axes arrows (in axis_node; made again when an axis moves)
real(kind=wp),	private		::	axis_base(3,3)	=	0.0_wp	each axis's base (columns; frame coordinates)
real(kind=wp),	private		::	axis_body_radius(3)	=	0.0_wp	(0: 0.05 and 0.1 of the length)
real(kind=wp),	private		::	axis_head_radius(3)	=	0.0_wp	(0: 0.05 and 0.1 of the length)
real(kind=wp),	private		::	axis_head_ratio(3)	=	0.3_wp	each axis's head, as a fraction of its length
type(c_ptr),	private		::	axis_label_node(3)	=	c_null_ptr	the axes labels' switches
real(kind=wp),	private		::	axis_len(3)	=	1.0_wp	each axis's length
type(c_ptr),	private		::	axis_node(3)	=	c_null_ptr	the axes arrows' switches
type(c_ptr),	private		::	axis_text(3)	=	c_null_ptr	the axes labels (in axis_label_node)
type(FramePointer),	private,	allocatable	::	children(:)			not owned (first n_children, n_parents used)
real(kind=wp),	private		::	color_(4)	=	[1.0_wp, 1.0_wp, 1.0_wp, 0.9_wp]	decorations' color [r, g, b, a] (0 to 1)
logical,	private		::	contents	=	.true.	what the frame draws shown (show_contents)
type(c_ptr),	private		::	contents_node	=	c_null_ptr	switch holding the contents
class(ReferenceFrame),	private,	pointer	::	follow_frame_	=>	null()	the frame the followed data are in (null: the parent)
type(TrajectoryFollower),	private		::	follower_			sets position and attitude from followed trajectories
logical,	private		::	following	=	.false.	following trajectories (follow, until unfollow)
integer,	private		::	label_alignment_	=	ALIGN_LEFT_BASE_LINE	labels' alignment (ALIGN_*)
character(len=:),	private,	allocatable	::	label_font_			labels' font (unallocated: the renderer's default)
integer,	private		::	label_size_	=	20	labels' size (pixels)
real(kind=wp),	private		::	light_ambient_(3)	=	0.05_wp	[r, g, b]
real(kind=wp),	private		::	light_diffuse_(3)	=	0.8_wp	[r, g, b]
type(c_ptr),	private		::	light_node	=	c_null_ptr	light and switch (made when enabled)
logical,	private		::	light_source	=	.false.	carries a light source (set_light_source_enabled)
real(kind=wp),	private		::	light_specular_(3)	=	0.05_wp	[r, g, b]
type(c_ptr),	private		::	light_switch	=	c_null_ptr	light and switch (made when enabled)
integer,	private		::	n_children	=	0	number of children and parents
integer,	private		::	n_parents	=	0	number of children and parents
character(len=:),	private,	allocatable	::	name_			the name (shown by the name label)
logical,	private		::	name_label	=	.true.	the name label shown
type(c_ptr),	private		::	name_label_node	=	c_null_ptr	the name label's switch
logical,	private		::	name_on_top	=	.false.	the name label drawn on top of the scene
type(c_ptr),	private		::	name_text	=	c_null_ptr	the name label (in name_label_node)
type(c_ptr),	private		::	node_	=	c_null_ptr	the frame's transform node
type(FramePointer),	private,	allocatable	::	parents(:)			not owned (first n_children, n_parents used)
logical,	private		::	pickable_	=	.true.	picked (pick); its children aside
real(kind=wp),	private		::	position_(3)	=	0.0_wp	relative to the parent
logical,	private		::	realized	=	.false.	render nodes made (realize)
logical,	private		::	shown_	=	.false.	realized for a window (not headless): later nodes are compiled
integer,	private		::	stamp_	=	0	motion stamp of the last change of its pose or parents
logical,	private		::	synced	=	.false.	the node has synced_position/attitude
real(kind=wp),	private		::	synced_attitude(4)	=	0.0_wp	last copied to the node
real(kind=wp),	private		::	synced_position(3)	=	0.0_wp	last copied to the node
character(len=:),	private,	allocatable	::	x_label_			axes labels (unallocated: 'X', 'Y', 'Z')
character(len=:),	private,	allocatable	::	y_label_			axes labels (unallocated: 'X', 'Y', 'Z')
character(len=:),	private,	allocatable	::	z_label_			axes labels (unallocated: 'X', 'Y', 'Z')

Constructor

public interface ReferenceFrame

The ReferenceFrame constructor: ReferenceFrame(...) makes one (see new_reference_frame for its arguments).

private function new_reference_frame(name, color) result(frame)

A frame named name, with decorations of color color ([r, g, b] or [r, g, b, a], 0 to 1; default white, 90% opaque).

Arguments

Type	Intent	Optional	Attributes		Name
character(len=*),	intent(in)			::	name	the frame's name (shown by its name label)
real(kind=wp),	intent(in),	optional		::	color(:)	[r, g, b] or [r, g, b, a] (0 to 1; default white, 90% opaque)

Return Value type(ReferenceFrame)

Type-Bound Procedures

procedure, public :: add_child

private function add_child(self, child) result(ok)

Add child to this frame's children. Returns false (and does nothing) for this frame itself or an ancestor of it; true if it is already a child.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout),		target	::	self
class(ReferenceFrame),	intent(inout),		target	::	child	the frame to add (not owned)

Return Value logical

procedure, public :: attitude

private pure function attitude(self) result(q)

Attitude relative to the parent frame, a quaternion [x, y, z, w].

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value real(kind=wp), (4)

procedure, public :: axes_labels_shown

private pure function axes_labels_shown(self)

Which axes labels are shown (as axes_shown).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value integer

procedure, public :: axes_shown

private pure function axes_shown(self)

Which axes vectors are shown (NO_AXES, or X_AXIS, Y_AXIS, Z_AXIS combined).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value integer

procedure, public :: axis_label

private function axis_label(self, axis) result(text)

The label text of axis X_AXIS, Y_AXIS or Z_AXIS.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self
integer,	intent(in)			::	axis	X_AXIS, Y_AXIS or Z_AXIS (else: '')

Return Value character(len=:), allocatable

procedure, public :: bound

private subroutine bound(self, center, radius)

The bounding sphere of what the frame draws, in its own coordinates (radius 0 if it draws nothing; extensions override it). Views use it for their default distance.

Arguments

Type	Intent		Name
class(ReferenceFrame),	intent(in)	::	self
real(kind=wp),	intent(out)	::	center(3)	frame's coordinates
real(kind=wp),	intent(out)	::	radius	frame's coordinates

procedure, public :: build_contents

private subroutine build_contents(self, viewer, group)

Add what this frame draws to group (a node handle). ReferenceFrame draws nothing itself (its axes and labels come later); extensions such as Sphere and Model override this.

Arguments

Type	Intent		Name
class(ReferenceFrame),	intent(inout)	::	self
type(c_ptr),	intent(in)	::	viewer	(viewer: as realize's)
type(c_ptr),	intent(in)	::	group	(viewer: as realize's)

procedure, public :: child

private function child(self, i) result(c)

Child i (1 to num_children).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self
integer,	intent(in)			::	i	1 to num_children

Return Value class(ReferenceFrame), pointer

procedure, public :: child_index

private function child_index(self, frame)

Index of frame among the children, or 0.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self
class(ReferenceFrame),	intent(in),		target	::	frame	the frame to find

Return Value integer

procedure, public :: color

private pure function color(self) result(c)

The color of the frame's decorations, [r, g, b, a] (0 to 1).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value real(kind=wp), (4)

procedure, public :: contents_shown

private pure function contents_shown(self)

Whether what the frame draws is shown (show_contents).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value logical

procedure, public :: detach

private subroutine detach(self)

Remove this frame from all its parents and children (before it goes out of scope or is deallocated while in a tree).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout),		target	::	self

procedure, public :: follow

private subroutine follow(self, traj, data, mode, add, data_frame)

Follow traj (in addition to trajectories already followed, if add is true), with what to follow (data: FOLLOW_POSITION and/or FOLLOW_ATTITUDE; default both) and how (mode: FOLLOW_LOOP, the default, or FOLLOW_LIMIT). traj must stay alive while followed.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
type(Trajectory),	intent(in),		target	::	traj	the trajectory to follow (not owned)
integer,	intent(in),	optional		::	data	FOLLOW_POSITION/FOLLOW_ATTITUDE; FOLLOW_LOOP/FOLLOW_LIMIT
integer,	intent(in),	optional		::	mode	FOLLOW_POSITION/FOLLOW_ATTITUDE; FOLLOW_LOOP/FOLLOW_LIMIT
logical,	intent(in),	optional		::	add	(true: in addition to those followed (default false))
class(ReferenceFrame),	intent(in),	optional,	target	::	data_frame	the frame the data are in (default: the parent)

procedure, public :: follow_frame

private function follow_frame(self) result(f)

The frame the followed data are in (follow's data_frame; null: the parent).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value class(ReferenceFrame), pointer

procedure, public :: follower

private function follower(self) result(f)

The frame's trajectory follower, for finer control (data sources, time offset, ...).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in),		target	::	self

Return Value type(TrajectoryFollower), pointer

procedure, public :: frame_info

private function frame_info(self) result(info)

What kind of frame this is (shown by frame_string; extensions override it).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value character(len=:), allocatable

procedure, public :: frame_string

private recursive function frame_string(self, prefix) result(str)

The tree below this frame, one line per frame ("name (info)"), in OpenFrames' createFrameString format: children are prefixed "|-->".

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self
character(len=*),	intent(in),	optional		::	prefix	before this frame's line (default ' ')

Return Value character(len=:), allocatable

procedure, public :: has_light_source

private recursive function has_light_source(self) result(has)

Whether this frame or one of its descendants has a light source enabled.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value logical

procedure, public :: is_following

private pure function is_following(self)

Whether the frame follows trajectories (at least one, since follow).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value logical

procedure, public :: label_alignment

private pure function label_alignment(self)

The labels' alignment (ALIGN_*).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value integer

procedure, public :: label_font

private function label_font(self) result(font)

The labels' font as set ('' for the renderer's default).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value character(len=:), allocatable

procedure, public :: label_size

private pure function label_size(self)

The labels' size in pixels.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value integer

procedure, public :: late_update

private recursive subroutine late_update(self, t)

After the whole tree's update for time t (all frames at their positions for t): for contents that depend on other frames' positions, e.g. CustomLineSegments between spacecraft. Here, only the descendants'.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
real(kind=wp),	intent(in)			::	t	simulation time

procedure, public :: light_ambient

private pure function light_ambient(self) result(rgb)

The light source's ambient color [r, g, b].

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value real(kind=wp), (3)

procedure, public :: light_diffuse

private pure function light_diffuse(self) result(rgb)

The light source's diffuse color [r, g, b].

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value real(kind=wp), (3)

procedure, public :: light_source_enabled

private pure function light_source_enabled(self)

Whether this frame carries a light source.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value logical

procedure, public :: light_specular

private pure function light_specular(self) result(rgb)

The light source's specular color [r, g, b].

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value real(kind=wp), (3)

procedure, public :: local_matrix

private pure function local_matrix(self) result(m)

The transform from this frame to its parent (4x4).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value real(kind=wp), (4,4)

procedure, public :: local_matrix_at

private recursive function local_matrix_at(self, t) result(m)

The transform from this frame to its parent at simulation time t: its fixed position and attitude, with what it follows at time t (the followed trajectories' state then, in the parent's coordinates). The same as local_matrix after update at time t, for any t, without changing anything.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self
real(kind=wp),	intent(in)			::	t	simulation time

Return Value real(kind=wp), (4,4)

procedure, public :: motion_key

private recursive subroutine motion_key(self, stamp, data)

What the frame's motion depends on, for drawings that depend on it to know when to redraw: stamp, the latest change of the motion of it and its ancestors (through first parents), and of the frames their followed data are in (poses set, parents changed, what is followed and how); and data, the followed trajectories' revisions summed. Either changes when the frame's motion over time changes.

Arguments

Type	Intent		Name
class(ReferenceFrame),	intent(in)	::	self
integer,	intent(out)	::	stamp	the latest change; the followed data's revisions
integer,	intent(out)	::	data	the latest change; the followed data's revisions

procedure, public :: move_x_axis

private subroutine move_x_axis(self, base, length, head_ratio, body_radius, head_radius)

Place the x axis vector: from base, length long, with a head of head_ratio of the length (default 0.3) and body and head radii (default 0.05 and 0.1 of the length); its label is at the tip, 0.4 of the length tall (at most label_size pixels). As OpenFrames' moveXAxis. Set before the frame is first shown.

Arguments

Type	Intent	Optional		Name
class(ReferenceFrame),	intent(inout)		::	self
real(kind=wp),	intent(in)		::	base(3)	(base: frame's coordinates)
real(kind=wp),	intent(in)		::	length	(base: frame's coordinates)
real(kind=wp),	intent(in),	optional	::	head_ratio	defaults: 0.3; 0.05 and 0.1 of the length
real(kind=wp),	intent(in),	optional	::	body_radius	defaults: 0.3; 0.05 and 0.1 of the length
real(kind=wp),	intent(in),	optional	::	head_radius	defaults: 0.3; 0.05 and 0.1 of the length

procedure, public :: move_y_axis

private subroutine move_y_axis(self, base, length, head_ratio, body_radius, head_radius)

Place the y axis vector (as move_x_axis; OpenFrames' moveYAxis).

Arguments

Type	Intent	Optional		Name
class(ReferenceFrame),	intent(inout)		::	self
real(kind=wp),	intent(in)		::	base(3)	(base: frame's coordinates)
real(kind=wp),	intent(in)		::	length	(base: frame's coordinates)
real(kind=wp),	intent(in),	optional	::	head_ratio	defaults: 0.3; 0.05 and 0.1 of the length
real(kind=wp),	intent(in),	optional	::	body_radius	defaults: 0.3; 0.05 and 0.1 of the length
real(kind=wp),	intent(in),	optional	::	head_radius	defaults: 0.3; 0.05 and 0.1 of the length

procedure, public :: move_z_axis

private subroutine move_z_axis(self, base, length, head_ratio, body_radius, head_radius)

Place the z axis vector (as move_x_axis; OpenFrames' moveZAxis).

Arguments

Type	Intent	Optional		Name
class(ReferenceFrame),	intent(inout)		::	self
real(kind=wp),	intent(in)		::	base(3)	(base: frame's coordinates)
real(kind=wp),	intent(in)		::	length	(base: frame's coordinates)
real(kind=wp),	intent(in),	optional	::	head_ratio	defaults: 0.3; 0.05 and 0.1 of the length
real(kind=wp),	intent(in),	optional	::	body_radius	defaults: 0.3; 0.05 and 0.1 of the length
real(kind=wp),	intent(in),	optional	::	head_radius	defaults: 0.3; 0.05 and 0.1 of the length

procedure, public :: name

private function name(self) result(n)

The frame's name ('' if none).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value character(len=:), allocatable

procedure, public :: name_label_on_top

private pure function name_label_on_top(self)

Whether the name label is drawn on top of the scene (set_name_label_on_top).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value logical

procedure, public :: name_label_shown

private pure function name_label_shown(self)

Whether the name label is shown.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value logical

procedure, public :: node

private function node(self) result(n)

The frame's transform node (null until realized).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value type(c_ptr)

procedure, public :: num_children

private pure function num_children(self)

Number of children.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value integer

procedure, public :: num_parents

private pure function num_parents(self)

Number of parents.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value integer

procedure, public :: parent

private function parent(self, i) result(p)

Parent i (1 to num_parents).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self
integer,	intent(in)			::	i	1 to num_parents

Return Value class(ReferenceFrame), pointer

procedure, public :: parent_index

private function parent_index(self, frame)

Index of frame among the parents, or 0.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self
class(ReferenceFrame),	intent(in),		target	::	frame	the frame to find

Return Value integer

procedure, public :: pick

private subroutine pick(self, cam, to_root, hits, n)

Pick what the frame draws (see the module documentation): to_root is its transform to the root frame; hits are added to hits(1:n). A plain frame: its origin, if it shows axes or its name label.

Arguments

Type	Intent	Attributes		Name
class(ReferenceFrame),	intent(in),	target	::	self
type(PickCamera),	intent(in)		::	cam	the cursor's ray and the pick's settings
real(kind=wp),	intent(in)		::	to_root(4,4)	the frame's transform to the root frame
type(PickHit),	intent(inout),	allocatable	::	hits(:)	hits so far (grown as needed)
integer,	intent(inout)		::	n	number of hits in hits

procedure, public :: pickable

private pure function pickable(self)

Whether pick tests what this frame draws (set_pickable).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value logical

procedure, public :: position

private pure function position(self) result(p)

Position relative to the parent frame.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value real(kind=wp), (3)

procedure, public :: position_of

private function position_of(self, other) result(p)

The origin of other (a frame of the same tree) in this frame's coordinates, from both frames' transforms to the root (through their first parents).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self	(other: a frame of the same tree)
class(ReferenceFrame),	intent(in)			::	other	(other: a frame of the same tree)

Return Value real(kind=wp), (3)

procedure, public :: realize

private recursive subroutine realize(self, viewer)

Create the render nodes of this frame and its descendants (once; for viewer, a window's viewer handle, which some contents need while they are built (not kept); null: headless).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
type(c_ptr),	intent(in)			::	viewer	a window's viewer handle (null: headless)

procedure, public :: remove_child

private function remove_child(self, child) result(ok)

Remove child from this frame's children. Returns false if it is not one.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout),		target	::	self
class(ReferenceFrame),	intent(inout),		target	::	child	the child to remove

Return Value logical

procedure, public :: reposition_axes

private subroutine reposition_axes(self)

Place the axes for what the frame draws, when it is first shown (unless move_*_axis was called): at its bound's surface, half the bound's radius long (as OpenFrames' Sphere and Model do); at the origin, 1 long, for a frame that draws nothing.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self

procedure, public :: set_attitude

private subroutine set_attitude(self, q)

Attitude relative to the parent frame, a quaternion [x, y, z, w] (normalized here; overridden by a followed trajectory).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
real(kind=wp),	intent(in)			::	q(4)	attitude quaternion [x, y, z, w] (normalized here)

procedure, public :: set_color

private subroutine set_color(self, color)

The color of the frame's decorations: [r, g, b] (alpha unchanged) or [r, g, b, a].

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
real(kind=wp),	intent(in)			::	color(:)	[r, g, b] (alpha unchanged) or [r, g, b, a] (0 to 1)

procedure, public :: set_label_alignment

private subroutine set_label_alignment(self, alignment)

The alignment of the labels relative to their positions (ALIGN_*; default ALIGN_LEFT_BASE_LINE).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
integer,	intent(in)			::	alignment	ALIGN_* (default ALIGN_LEFT_BASE_LINE)

procedure, public :: set_label_font

private subroutine set_label_font(self, font)

The font of the labels: a font file name (found on the data search path) or a full path; default: the renderer's default font.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
character(len=*),	intent(in)			::	font	a font file name (on the data search path) or a full path

procedure, public :: set_label_size

private subroutine set_label_size(self, size)

The size of the labels in pixels (default 20): the name label's size, and the maximum size of the axes labels (which shrink with distance).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
integer,	intent(in)			::	size	pixels (default 20)

procedure, public :: set_light_ambient

private subroutine set_light_ambient(self, rgb)

The light source's ambient, diffuse and specular colors ([r, g, b], 0 to 1; defaults 0.05, 0.8 and 0.05 gray).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
real(kind=wp),	intent(in)			::	rgb(3)	ambient color [r, g, b] (0 to 1; default 0.05 gray)

procedure, public :: set_light_diffuse

private subroutine set_light_diffuse(self, rgb)

The light source's diffuse color (see set_light_ambient).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
real(kind=wp),	intent(in)			::	rgb(3)	diffuse color [r, g, b] (0 to 1; default 0.8 gray)

procedure, public :: set_light_source_enabled

private subroutine set_light_source_enabled(self, enable)

Whether this frame carries a light source: a point light at its origin (e.g. the Sun), not dimmed with distance (default false; OpenFrames' setLightSourceEnabled). While any frame of a window's scene has one, the window's own light (WindowProxy%set_light_*) is off.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
logical,	intent(in)			::	enable	(true: a point light at the frame's origin)

procedure, public :: set_light_specular

private subroutine set_light_specular(self, rgb)

The light source's specular color (see set_light_ambient).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
real(kind=wp),	intent(in)			::	rgb(3)	specular color [r, g, b] (0 to 1; default 0.05 gray)

procedure, public :: set_name

private subroutine set_name(self, name)

The frame's name, shown by its name label (also once shown: e.g. a readout that follows the frame).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
character(len=*),	intent(in)			::	name	the name (shown by the name label)

procedure, public :: set_name_label_on_top

private subroutine set_name_label_on_top(self, on_top)

Draw the name label on top of the scene (true: not hidden by bodies in front of it, as HUD text; e.g. a readout) or depth-tested (false, the default, as OpenFrames').

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
logical,	intent(in)			::	on_top	(true: drawn on top of the scene; false: depth-tested)

procedure, public :: set_pickable

private subroutine set_pickable(self, pickable)

Whether pick tests what this frame draws (default true; e.g. false for an overlay such as a selection marker). Its children are picked or not by their own setting.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
logical,	intent(in)			::	pickable	(true: tested by pick)

procedure, public :: set_position

private subroutine set_position(self, position)

Position relative to the parent frame (overridden by a followed trajectory).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
real(kind=wp),	intent(in)			::	position(3)	parent frame's coordinates

procedure, public :: set_x_label

private subroutine set_x_label(self, text)

The text of the x-axis label (default 'X').

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
character(len=*),	intent(in)			::	text	the x-axis label (default 'X')

procedure, public :: set_y_label

private subroutine set_y_label(self, text)

The text of the y-axis label (default 'Y').

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
character(len=*),	intent(in)			::	text	the y-axis label (default 'Y')

procedure, public :: set_z_label

private subroutine set_z_label(self, text)

The text of the z-axis label (default 'Z').

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
character(len=*),	intent(in)			::	text	the z-axis label (default 'Z')

procedure, public :: show_axes

private subroutine show_axes(self, axes)

Which axes vectors to show: NO_AXES, or X_AXIS, Y_AXIS, Z_AXIS combined with ior.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
integer,	intent(in)			::	axes	NO_AXES, or X_AXIS, Y_AXIS, Z_AXIS combined with ior

procedure, public :: show_axes_labels

private subroutine show_axes_labels(self, labels)

Which axes labels to show (as show_axes).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
integer,	intent(in)			::	labels	NO_AXES, or X_AXIS, Y_AXIS, Z_AXIS combined with ior

procedure, public :: show_contents

private subroutine show_contents(self, show)

Show or hide what the frame draws (its sphere, model, ...), but not its axes, labels or children.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
logical,	intent(in)			::	show	(true: shown)

procedure, public :: show_decorations

private subroutine show_decorations(self, show)

Show (true) or hide all the frame's decorations at once: its axes, their labels and its name label (show_axes, show_axes_labels, show_name_label).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
logical,	intent(in)			::	show	true: all axes, axes labels and the name label

procedure, public :: show_name_label

private subroutine show_name_label(self, show)

Show or hide the name label (at the frame's origin; default shown).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self
logical,	intent(in)			::	show	(true: shown)

procedure, public :: sync

private recursive subroutine sync(self)

Copy the positions and attitudes of this frame and its descendants to their transform nodes (only those that changed since the last sync).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self

procedure, public :: unfollow

private subroutine unfollow(self)

Stop following trajectories (the frame keeps its last position and attitude).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout)			::	self

procedure, public :: update

private recursive subroutine update(self, t)

Update this frame and its descendants for simulation time t (followed trajectories set positions and attitudes).

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(inout),		target	::	self
real(kind=wp),	intent(in)			::	t	simulation time

procedure, public :: world_matrix

private recursive function world_matrix(self) result(m)

The transform from this frame to the root of its tree, through the first parent at each level.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self

Return Value real(kind=wp), (4,4)

procedure, public :: world_matrix_at

private recursive function world_matrix_at(self, t) result(m)

The transform from this frame to the root of its tree at simulation time t (through the first parent at each level): each frame's local_matrix_at time t. The same as world_matrix after the tree's update at time t, for any t, without changing anything.

Arguments

Type	Intent	Optional	Attributes		Name
class(ReferenceFrame),	intent(in)			::	self
real(kind=wp),	intent(in)			::	t	simulation time

Return Value real(kind=wp), (4,4)

Source Code

    type, public :: ReferenceFrame
        private
        character(len=:), allocatable :: name_              !! the name (shown by the name label)
        real(wp) :: color_(4) = [1.0_wp, 1.0_wp, 1.0_wp, 0.9_wp]  !! decorations' color [r, g, b, a] (0 to 1)
        real(wp) :: position_(3) = 0.0_wp                   !! relative to the parent
        real(wp) :: attitude_(4) = quat_identity            !! relative to the parent: quaternion [x, y, z, w]
        type(FramePointer), allocatable :: children(:), parents(:)  !! not owned (first n_children, n_parents used)
        integer :: n_children = 0, n_parents = 0            !! number of children and parents
        type(TrajectoryFollower) :: follower_               !! sets position and attitude from followed trajectories
        logical :: following = .false.                      !! following trajectories ([[follow]], until [[unfollow]])
        class(ReferenceFrame), pointer :: follow_frame_ => null()  !! the frame the followed data are in (null: the parent)
        integer :: stamp_ = 0                               !! motion stamp of the last change of its pose or parents
        ! decorations (drawn by the renderer)
        integer :: axes = ALL_AXES                          !! OpenFrames' defaults: all shown
        integer :: axes_labels = ALL_AXES                   !! axes labels shown (as axes)
        logical :: name_label = .true.                      !! the name label shown
        logical :: name_on_top = .false.                    !! the name label drawn on top of the scene
        character(len=:), allocatable :: x_label_, y_label_, z_label_  !! axes labels (unallocated: 'X', 'Y', 'Z')
        character(len=:), allocatable :: label_font_        !! labels' font (unallocated: the renderer's default)
        integer :: label_size_ = 20                         !! labels' size (pixels)
        integer :: label_alignment_ = ALIGN_LEFT_BASE_LINE  !! labels' alignment (ALIGN_*)
        logical :: light_source = .false.                   !! carries a light source (set_light_source_enabled)
        ! the light source's colors (OSG's default light, as OpenFrames')
        real(wp) :: light_ambient_(3) = 0.05_wp, light_diffuse_(3) = 0.8_wp, light_specular_(3) = 0.05_wp  !! [r, g, b]
        type(c_ptr) :: light_node = c_null_ptr, light_switch = c_null_ptr  !! light and switch (made when enabled)
        logical :: contents = .true.                        !! what the frame draws shown (show_contents)
        logical :: pickable_ = .true.                       !! picked ([[WindowProxy:pick]]); its children aside
        ! rendering
        type(c_ptr) :: node_ = c_null_ptr                   !! the frame's transform node
        type(c_ptr) :: contents_node = c_null_ptr           !! switch holding the contents
        logical :: shown_ = .false.                         !! realized for a window (not headless): later nodes are compiled
        logical :: realized = .false.                       !! render nodes made (realize)
        logical :: synced = .false.                         !! the node has synced_position/attitude
        real(wp) :: synced_position(3) = 0.0_wp, synced_attitude(4) = 0.0_wp  !! last copied to the node
        ! axes (OpenFrames' moveXAxis/...: base, length, head ratio, radii; 0 radius: auto)
        real(wp) :: axis_base(3,3) = 0.0_wp                 !! each axis's base (columns; frame coordinates)
        real(wp) :: axis_len(3) = 1.0_wp                    !! each axis's length
        real(wp) :: axis_head_ratio(3) = 0.3_wp             !! each axis's head, as a fraction of its length
        real(wp) :: axis_body_radius(3) = 0.0_wp, axis_head_radius(3) = 0.0_wp  !! (0: 0.05 and 0.1 of the length)
        logical :: axes_moved = .false.                     !! set by move_*_axis (else reposition_axes places them)
        type(c_ptr) :: axis_node(3) = c_null_ptr            !! the axes arrows' switches
        type(c_ptr) :: axis_label_node(3) = c_null_ptr      !! the axes labels' switches
        type(c_ptr) :: axis_arrow(3) = c_null_ptr           !! the axes arrows (in axis_node; made again when an axis moves)
        type(c_ptr) :: axis_text(3) = c_null_ptr            !! the axes labels (in axis_label_node)
        type(c_ptr) :: name_label_node = c_null_ptr         !! the name label's switch
        type(c_ptr) :: name_text = c_null_ptr               !! the name label (in name_label_node)
    contains
        procedure :: set_name, name
        procedure :: set_color, color
        procedure :: set_position, position
        procedure :: set_attitude, attitude
        procedure :: local_matrix, world_matrix, position_of
        procedure :: local_matrix_at, world_matrix_at, motion_key
        procedure :: show_axes, axes_shown
        procedure :: show_axes_labels, axes_labels_shown
        procedure :: show_name_label, name_label_shown
        procedure :: show_decorations
        procedure :: set_name_label_on_top, name_label_on_top
        procedure :: set_x_label, set_y_label, set_z_label, axis_label
        procedure :: set_label_font, label_font
        procedure :: set_label_size, label_size
        procedure :: set_label_alignment, label_alignment
        procedure :: set_light_source_enabled, light_source_enabled, has_light_source
        procedure :: set_light_ambient, set_light_diffuse, set_light_specular
        procedure :: light_ambient, light_diffuse, light_specular
        procedure :: show_contents, contents_shown
        procedure :: frame_info
        procedure :: add_child, remove_child, detach
        procedure :: num_children, child, child_index
        procedure :: num_parents, parent, parent_index
        procedure :: frame_string
        procedure :: follow, unfollow, follower, is_following, follow_frame
        procedure :: update, late_update
        procedure :: realize, build_contents, sync, node
        procedure :: bound, pick, set_pickable, pickable
        procedure :: move_x_axis, move_y_axis, move_z_axis, reposition_axes
    end type ReferenceFrame

ReferenceFrame Derived Type

Contents

Variables

Constructor

Type-Bound Procedures

Source Code

type, public :: ReferenceFrame

Inherits

Inherited by

Components

Constructor

public interface ReferenceFrame

private function new_reference_frame(name, color) result(frame)

Arguments

Return Value type(ReferenceFrame)

Type-Bound Procedures

procedure, public :: add_child

private function add_child(self, child) result(ok)

Arguments

Return Value logical

procedure, public :: attitude

private pure function attitude(self) result(q)

Arguments

Return Value real(kind=wp), (4)

procedure, public :: axes_labels_shown

private pure function axes_labels_shown(self)

Arguments

Return Value integer

procedure, public :: axes_shown

private pure function axes_shown(self)

Arguments

Return Value integer

procedure, public :: axis_label

private function axis_label(self, axis) result(text)

Arguments

Return Value character(len=:), allocatable

procedure, public :: bound

private subroutine bound(self, center, radius)

Arguments

procedure, public :: build_contents

private subroutine build_contents(self, viewer, group)

Arguments

procedure, public :: child

private function child(self, i) result(c)

Arguments

Return Value class(ReferenceFrame), pointer

procedure, public :: child_index

private function child_index(self, frame)

Arguments

Return Value integer

procedure, public :: color

private pure function color(self) result(c)

Arguments

Return Value real(kind=wp), (4)

procedure, public :: contents_shown

private pure function contents_shown(self)

Arguments

Return Value logical

procedure, public :: detach

private subroutine detach(self)

Arguments

procedure, public :: follow

private subroutine follow(self, traj, data, mode, add, data_frame)

Arguments

procedure, public :: follow_frame

private function follow_frame(self) result(f)

Arguments

Return Value class(ReferenceFrame), pointer

procedure, public :: follower

private function follower(self) result(f)

Arguments

Return Value type(TrajectoryFollower), pointer

procedure, public :: frame_info

private function frame_info(self) result(info)

Arguments

Return Value character(len=:), allocatable

procedure, public :: frame_string

private recursive function frame_string(self, prefix) result(str)

Arguments

Return Value character(len=:), allocatable