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/****************************************************************************
Copyright (C) 2002-2007 Gilles Debunne (Gilles.Debunne@imag.fr)
This file is part of the QGLViewer library.
Version 2.2.6-3, released on August 28, 2007.
http://artis.imag.fr/Members/Gilles.Debunne/QGLViewer
libQGLViewer is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
libQGLViewer is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with libQGLViewer; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*****************************************************************************/
#include "manipulatedFrameSetConstraint.h"
#include "QGLViewer/frame.h"
using namespace qglviewer;
void ManipulatedFrameSetConstraint::clearSet()
{
objects_.clear();
}
void ManipulatedFrameSetConstraint::addObjectToSet(Object* o)
{
objects_.append(o);
}
void ManipulatedFrameSetConstraint::constrainTranslation(qglviewer::Vec &translation, Frame *const)
{
#if QT_VERSION < 0x040000
for (QPtrList<Object>::iterator it=objects_.begin(), end=objects_.end(); it != end; ++it)
#else
for (QList<Object*>::iterator it=objects_.begin(), end=objects_.end(); it != end; ++it)
#endif
(*it)->frame.translate(translation);
}
void ManipulatedFrameSetConstraint::constrainRotation(qglviewer::Quaternion &rotation, Frame *const frame)
{
// A little bit of math. Easy to understand, hard to guess (tm).
// rotation is expressed in the frame local coordinates system. Convert it back to world coordinates.
const Vec worldAxis = frame->inverseTransformOf(rotation.axis());
const Vec pos = frame->position();
const float angle = rotation.angle();
#if QT_VERSION < 0x040000
for (QPtrList<Object>::iterator it=objects_.begin(), end=objects_.end(); it != end; ++it)
#else
for (QList<Object*>::iterator it=objects_.begin(), end=objects_.end(); it != end; ++it)
#endif
{
// Rotation has to be expressed in the object local coordinates system.
Quaternion qObject((*it)->frame.transformOf(worldAxis), angle);
(*it)->frame.rotate(qObject);
// Comment these lines only rotate the objects
Quaternion qWorld(worldAxis, angle);
// Rotation around frame world position (pos)
(*it)->frame.setPosition(pos + qWorld.rotate((*it)->frame.position() - pos));
}
}
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