303 lines
11 KiB
C++
Executable File
303 lines
11 KiB
C++
Executable File
/****************************************************************************
|
|
|
|
Copyright (c) 2018 GeometryFactory Sarl (France).
|
|
Copyright (C) 2002-2014 Gilles Debunne. All rights reserved.
|
|
|
|
This file is part of a fork of the QGLViewer library version 2.7.0.
|
|
http://www.libqglviewer.com - contact@libqglviewer.com
|
|
|
|
This file may be used under the terms of the GNU General Public License
|
|
version 3.0 as published by the Free Software Foundation and
|
|
appearing in the LICENSE file included in the packaging of this file.
|
|
|
|
This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
|
|
WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
|
|
|
|
*****************************************************************************/
|
|
// $URL$
|
|
// $Id$
|
|
// SPDX-License-Identifier: GPL-3.0
|
|
|
|
#ifdef CGAL_HEADER_ONLY
|
|
#define CGAL_INLINE_FUNCTION inline
|
|
|
|
#include <CGAL/license/GraphicsView.h>
|
|
|
|
#else
|
|
#define CGAL_INLINE_FUNCTION
|
|
#endif
|
|
|
|
#include <CGAL/Qt/constraint.h>
|
|
#include <CGAL/Qt/manipulatedCameraFrame.h>
|
|
#include <CGAL/Qt/camera.h>
|
|
|
|
namespace CGAL{
|
|
namespace qglviewer{
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// Constraint //
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
/*! Default constructor.
|
|
|
|
translationConstraintType() and rotationConstraintType() are set to
|
|
AxisPlaneConstraint::FREE. translationConstraintDirection() and
|
|
rotationConstraintDirection() are set to (0,0,0). */
|
|
CGAL_INLINE_FUNCTION
|
|
AxisPlaneConstraint::AxisPlaneConstraint()
|
|
: translationConstraintType_(FREE), rotationConstraintType_(FREE) {
|
|
// Do not use set since setRotationConstraintType needs a read.
|
|
}
|
|
|
|
/*! Simply calls setTranslationConstraintType() and
|
|
* setTranslationConstraintDirection(). */
|
|
CGAL_INLINE_FUNCTION
|
|
void AxisPlaneConstraint::setTranslationConstraint(Type type,
|
|
const Vec &direction) {
|
|
setTranslationConstraintType(type);
|
|
setTranslationConstraintDirection(direction);
|
|
}
|
|
|
|
/*! Defines the translationConstraintDirection(). The coordinate system where \p
|
|
* direction is expressed depends on your class implementation. */
|
|
CGAL_INLINE_FUNCTION
|
|
void AxisPlaneConstraint::setTranslationConstraintDirection(
|
|
const Vec &direction) {
|
|
if ((translationConstraintType() != AxisPlaneConstraint::FREE) &&
|
|
(translationConstraintType() != AxisPlaneConstraint::FORBIDDEN)) {
|
|
const qreal norm = direction.norm();
|
|
if (norm < 1E-8) {
|
|
qWarning("AxisPlaneConstraint::setTranslationConstraintDir: null vector "
|
|
"for translation constraint");
|
|
translationConstraintType_ = AxisPlaneConstraint::FREE;
|
|
} else
|
|
translationConstraintDir_ = direction / norm;
|
|
}
|
|
}
|
|
|
|
/*! Simply calls setRotationConstraintType() and
|
|
* setRotationConstraintDirection(). */
|
|
CGAL_INLINE_FUNCTION
|
|
void AxisPlaneConstraint::setRotationConstraint(Type type,
|
|
const Vec &direction) {
|
|
setRotationConstraintType(type);
|
|
setRotationConstraintDirection(direction);
|
|
}
|
|
|
|
/*! Defines the rotationConstraintDirection(). The coordinate system where \p
|
|
* direction is expressed depends on your class implementation. */
|
|
CGAL_INLINE_FUNCTION
|
|
void AxisPlaneConstraint::setRotationConstraintDirection(const Vec &direction) {
|
|
if ((rotationConstraintType() != AxisPlaneConstraint::FREE) &&
|
|
(rotationConstraintType() != AxisPlaneConstraint::FORBIDDEN)) {
|
|
const qreal norm = direction.norm();
|
|
if (norm < 1E-8) {
|
|
qWarning("AxisPlaneConstraint::setRotationConstraintDir: null vector for "
|
|
"rotation constraint");
|
|
rotationConstraintType_ = AxisPlaneConstraint::FREE;
|
|
} else
|
|
rotationConstraintDir_ = direction / norm;
|
|
}
|
|
}
|
|
|
|
/*! Set the Type() of the rotationConstraintType(). Default is
|
|
AxisPlaneConstraint::FREE.
|
|
|
|
Depending on this value, the Frame will freely rotate
|
|
(AxisPlaneConstraint::FREE), will only be able to rotate around an axis
|
|
(AxisPlaneConstraint::AXIS), or will not able to rotate at all
|
|
(AxisPlaneConstraint::FORBIDDEN).
|
|
|
|
Use Frame::setOrientation() to define the orientation of the constrained Frame
|
|
before it gets constrained.
|
|
|
|
\attention An AxisPlaneConstraint::PLANE Type() is not meaningful for
|
|
rotational constraints and will be ignored. */
|
|
CGAL_INLINE_FUNCTION
|
|
void AxisPlaneConstraint::setRotationConstraintType(Type type) {
|
|
if (rotationConstraintType() == AxisPlaneConstraint::PLANE) {
|
|
qWarning("AxisPlaneConstraint::setRotationConstraintType: the PLANE type "
|
|
"cannot be used for a rotation constraints");
|
|
return;
|
|
}
|
|
|
|
rotationConstraintType_ = type;
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// LocalConstraint //
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
/*! Depending on translationConstraintType(), constrain \p translation to be
|
|
along an axis or limited to a plane defined in the Frame local coordinate
|
|
system by translationConstraintDirection(). */
|
|
CGAL_INLINE_FUNCTION
|
|
void LocalConstraint::constrainTranslation(Vec &translation,
|
|
Frame *const frame) {
|
|
Vec proj;
|
|
switch (translationConstraintType()) {
|
|
case AxisPlaneConstraint::FREE:
|
|
break;
|
|
case AxisPlaneConstraint::PLANE:
|
|
proj = frame->rotation().rotate(translationConstraintDirection());
|
|
translation.projectOnPlane(proj);
|
|
break;
|
|
case AxisPlaneConstraint::AXIS:
|
|
proj = frame->rotation().rotate(translationConstraintDirection());
|
|
translation.projectOnAxis(proj);
|
|
break;
|
|
case AxisPlaneConstraint::FORBIDDEN:
|
|
translation = Vec(0.0, 0.0, 0.0);
|
|
break;
|
|
}
|
|
}
|
|
|
|
/*! When rotationConstraintType() is AxisPlaneConstraint::AXIS, constrain \p
|
|
rotation to be a rotation around an axis whose direction is defined in the
|
|
Frame local coordinate system by rotationConstraintDirection(). */
|
|
CGAL_INLINE_FUNCTION
|
|
void LocalConstraint::constrainRotation(Quaternion &rotation, Frame *const) {
|
|
switch (rotationConstraintType()) {
|
|
case AxisPlaneConstraint::FREE:
|
|
break;
|
|
case AxisPlaneConstraint::PLANE:
|
|
break;
|
|
case AxisPlaneConstraint::AXIS: {
|
|
Vec axis = rotationConstraintDirection();
|
|
Vec quat = Vec(rotation[0], rotation[1], rotation[2]);
|
|
quat.projectOnAxis(axis);
|
|
rotation = Quaternion(quat, 2.0 * acos(rotation[3]));
|
|
} break;
|
|
case AxisPlaneConstraint::FORBIDDEN:
|
|
rotation = Quaternion(); // identity
|
|
break;
|
|
}
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// WorldConstraint //
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
/*! Depending on translationConstraintType(), constrain \p translation to be
|
|
along an axis or limited to a plane defined in the world coordinate system by
|
|
translationConstraintDirection(). */
|
|
CGAL_INLINE_FUNCTION
|
|
void WorldConstraint::constrainTranslation(Vec &translation,
|
|
Frame *const frame) {
|
|
Vec proj;
|
|
switch (translationConstraintType()) {
|
|
case AxisPlaneConstraint::FREE:
|
|
break;
|
|
case AxisPlaneConstraint::PLANE:
|
|
if (frame->referenceFrame()) {
|
|
proj = frame->referenceFrame()->transformOf(
|
|
translationConstraintDirection());
|
|
translation.projectOnPlane(proj);
|
|
} else
|
|
translation.projectOnPlane(translationConstraintDirection());
|
|
break;
|
|
case AxisPlaneConstraint::AXIS:
|
|
if (frame->referenceFrame()) {
|
|
proj = frame->referenceFrame()->transformOf(
|
|
translationConstraintDirection());
|
|
translation.projectOnAxis(proj);
|
|
} else
|
|
translation.projectOnAxis(translationConstraintDirection());
|
|
break;
|
|
case AxisPlaneConstraint::FORBIDDEN:
|
|
translation = Vec(0.0, 0.0, 0.0);
|
|
break;
|
|
}
|
|
}
|
|
|
|
/*! When rotationConstraintType() is AxisPlaneConstraint::AXIS, constrain \p
|
|
rotation to be a rotation around an axis whose direction is defined in the
|
|
world coordinate system by rotationConstraintDirection(). */
|
|
CGAL_INLINE_FUNCTION
|
|
void WorldConstraint::constrainRotation(Quaternion &rotation,
|
|
Frame *const frame) {
|
|
switch (rotationConstraintType()) {
|
|
case AxisPlaneConstraint::FREE:
|
|
break;
|
|
case AxisPlaneConstraint::PLANE:
|
|
break;
|
|
case AxisPlaneConstraint::AXIS: {
|
|
Vec quat(rotation[0], rotation[1], rotation[2]);
|
|
Vec axis = frame->transformOf(rotationConstraintDirection());
|
|
quat.projectOnAxis(axis);
|
|
rotation = Quaternion(quat, 2.0 * acos(rotation[3]));
|
|
break;
|
|
}
|
|
case AxisPlaneConstraint::FORBIDDEN:
|
|
rotation = Quaternion(); // identity
|
|
break;
|
|
}
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// CameraConstraint //
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
/*! Creates a CameraConstraint, whose constrained directions are defined in the
|
|
\p camera coordinate system. */
|
|
CGAL_INLINE_FUNCTION
|
|
CameraConstraint::CameraConstraint(const Camera *const camera)
|
|
: AxisPlaneConstraint(), camera_(camera) {}
|
|
|
|
/*! Depending on translationConstraintType(), constrain \p translation to be
|
|
along an axis or limited to a plane defined in the camera() coordinate system
|
|
by translationConstraintDirection(). */
|
|
CGAL_INLINE_FUNCTION
|
|
void CameraConstraint::constrainTranslation(Vec &translation,
|
|
Frame *const frame) {
|
|
Vec proj;
|
|
switch (translationConstraintType()) {
|
|
case AxisPlaneConstraint::FREE:
|
|
break;
|
|
case AxisPlaneConstraint::PLANE:
|
|
proj =
|
|
camera()->frame()->inverseTransformOf(translationConstraintDirection());
|
|
if (frame->referenceFrame())
|
|
proj = frame->referenceFrame()->transformOf(proj);
|
|
translation.projectOnPlane(proj);
|
|
break;
|
|
case AxisPlaneConstraint::AXIS:
|
|
proj =
|
|
camera()->frame()->inverseTransformOf(translationConstraintDirection());
|
|
if (frame->referenceFrame())
|
|
proj = frame->referenceFrame()->transformOf(proj);
|
|
translation.projectOnAxis(proj);
|
|
break;
|
|
case AxisPlaneConstraint::FORBIDDEN:
|
|
translation = Vec(0.0, 0.0, 0.0);
|
|
break;
|
|
}
|
|
}
|
|
|
|
/*! When rotationConstraintType() is AxisPlaneConstraint::AXIS, constrain \p
|
|
rotation to be a rotation around an axis whose direction is defined in the
|
|
camera() coordinate system by rotationConstraintDirection(). */
|
|
CGAL_INLINE_FUNCTION
|
|
void CameraConstraint::constrainRotation(Quaternion &rotation,
|
|
Frame *const frame) {
|
|
switch (rotationConstraintType()) {
|
|
case AxisPlaneConstraint::FREE:
|
|
break;
|
|
case AxisPlaneConstraint::PLANE:
|
|
break;
|
|
case AxisPlaneConstraint::AXIS: {
|
|
Vec axis = frame->transformOf(
|
|
camera()->frame()->inverseTransformOf(rotationConstraintDirection()));
|
|
Vec quat = Vec(rotation[0], rotation[1], rotation[2]);
|
|
quat.projectOnAxis(axis);
|
|
rotation = Quaternion(quat, 2.0 * acos(rotation[3]));
|
|
} break;
|
|
case AxisPlaneConstraint::FORBIDDEN:
|
|
rotation = Quaternion(); // identity
|
|
break;
|
|
}
|
|
}
|
|
|
|
}}//end namespace
|