Hi All,
I have a piece of code which I am doubting it as a implementation of recursion by its definition. My understanding is that the code must call itself, the exact same function. I also question whether writing the code this way adds additional overhead which can be seen with the use of recursion. What are your thoughts?
class dhObject
{
public:
dhObject** children;
int numChildren;
GLdouble linkLength; //ai
GLdouble theta; //angle of rot about the z axis
GLdouble twist; //about the x axis
GLdouble displacement; // displacement from the end point of prev along z
GLdouble thetaMax;
GLdouble thetaMin;
GLdouble thetaInc;
GLdouble direction;
dhObject(ifstream &fin)
{
fin >> numChildren >> linkLength >> theta >> twist >> displacement >> thetaMax >> thetaMin;
//std::cout << numChildren << std::endl;
direction = 1;
thetaInc = 1.0;
if (numChildren > 0)
{
children = new dhObject*[numChildren];
for(int i = 0; i < numChildren; ++i)
{
children[i] = new dhObject(fin);
}
}
}
void traverse(void)
{
glPushMatrix();
//draw move initial and draw
transform();
draw();
//draw children
for(int i = 0; i < numChildren; ++i)
{
children[i]->traverse();
}
glPopMatrix();
}
void update(void)
{
//Update the animation, if it has finished all animation go backwards
if (theta <= thetaMin)
{
thetaInc = 1.0;
} else if (theta >= thetaMax)
{
thetaInc = -1.0;
}
theta += thetaInc;
//std::cout << thetaMin << " " << theta << " " << thetaMax << std::endl;
for(int i = 0; i < numChildren; ++i)
{
children[i]->update();
}
}
void draw(void)
{
glPushMatrix();
glColor3f (0.0f,0.0f,1.0f);
glutSolidCube(0.1);
glPopMatrix();
}
void transform(void)
{
//Move in the correct way, R, T, T, R
glRotatef(theta, 0, 0, 1.0);
glTranslatef(0,0,displacement);
glTranslatef(linkLength, 0,0);
glRotatef(twist, 1.0,0.0,0.0);
}
};
