• derived nodes inherit all messages from their base classes
  
• see reset method for default settings
  
• the volume message sets the volume in which object(s) move with a random path
  
• box( minX minY minZ maxX maxY maxZ)
  
  1. set absolute box coordinates (volume) in which object(s) move with a random path
     
  2. For the time being the inital position of the object will be minX+(maxX-minX)/2, etc. (box center)
     
  3. Default 'box' is half CAVE size (see contructor).
     
  4. WARNING: When user specify a new box (volume) the initial position is automatically re-set to a new point in the center of the new box. All random points following this initial position are also recalculated
     
• randompoints
  
  1. sets the number of random points generated in the box and slso affects the speed
     
  2. (as opposite you might think, the less random points the slower the movement)
     
• allrot(min_roll min_pitch min_heading max_roll max_pitch max_heading rot_speed_roll rot_speed_pitch rot_speed_heading)
  
  1. Normaly the vector-direction of the object (orientation) following the random path is the tangent of that path
     
  2. If this message and parameters are set, the vector-direction will rotate between min max range, like swinging between those ranges
     
  3. To maintain 1/1000 degree resolution in the single precision arithmetic used internally, for sine and cosine calculations, the angles head, pitch, roll should be in the range of -7500 to +7500 degrees.
     
  4. Ex: allrot -> enable rotation with default range and speed allrot(-10 -90 -80 +180 +180 +180 0.02 0.01 0.015) -> enable rot and set range & speed
     
• every time a new postion is set, the app sends an event with the new coordinates
  
• events can be used by other nodes to set/rest their position
  

constructor pathRandom

destructor ~pathRandom

method reset

1 Define box as (-5,2.5,5) and (5,5,10)
2 Degine points in the random path as 100
3
4 Set speed to 0.001
5
6 First, determine initial position based on box dimensions
7 Add to that initial position a series of
8 Defualt random rotation
9
10 Define rotation angle range
11
12 set roll_min to -180, pitch_min to -180, head_min to -180
13 set roll_max to 180, pitch_max to 180, head_max to 180
14 set roll_speed, pitch_speed, head_speed to 0.1

method message

1 begin random movement
2 stop random movement
3 set the speed of the random movement between 0 and 1
4 set absolute box coordinates
5 set roll, pitch, and heading minimum, maximum, and speed

5.1 get minimun
5.2 get maximun
5.3 get rot speed

method app

0.0.1 invert increment
0.0.2 return inside limits

0.1 Now the random rotation stuff
0.2

0.2.0.1 invert increment
0.2.0.2 return inside limits

0.2.0.1 invert increment
0.2.0.2 return inside limits

0.2.0.1 invert increment
0.2.0.2 return inside limits

0.3 Calculate new position and orientation
0.4 send an event with this new
0.5 position information

method setInitPos

method loadPath

1 First point is the initial position
2 Then, generate random points and add them

2.1 get a random number between minX and maxX

method interpolate

constructor pathRandomCatmullRomCurve

method setControlPoints

method value

method tangent

method computeCoefficients