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# The constrainedFrame example

Constraints can limit the translation and/or rotation of a (Manipulated)Frame.

Try the different possible constraints using the T (translate) and R (rotate) keys. G and D change the constraint directions. Press Space to change the coordinate system (World, Camera or Local) which defines the constraint directions.

Press the Control key while moving the mouse to move the camera.

## constrainedFrame.h

    #include <QGLViewer/qglviewer.h>

    class Viewer : public QGLViewer {
    protected:
      virtual void init();
      virtual void draw();
      virtual QString helpString() const;
      virtual void keyPressEvent(QKeyEvent *);

      void displayText();
      void displayType(const qglviewer::AxisPlaneConstraint::Type type, const int x,
                       const int y, const char c);
      void displayDir(const unsigned short dir, const int x, const int y,
                      const char c);

    private:
      int transDir;
      int rotDir;

      qglviewer::ManipulatedFrame *frame;

      static qglviewer::AxisPlaneConstraint::Type nextTranslationConstraintType(
          const qglviewer::AxisPlaneConstraint::Type &type);
      static qglviewer::AxisPlaneConstraint::Type
      nextRotationConstraintType(const qglviewer::AxisPlaneConstraint::Type &type);

      void changeConstraint();
      qglviewer::AxisPlaneConstraint *constraints[3];
      unsigned short activeConstraint;
    };

## constrainedFrame.cpp

    #include "constrainedFrame.h"

    #include <QGLViewer/manipulatedCameraFrame.h>
    #include <QKeyEvent>

    using namespace qglviewer;
    using namespace std;

    AxisPlaneConstraint::Type
    Viewer::nextTranslationConstraintType(const AxisPlaneConstraint::Type &type) {
      switch (type) {
      case AxisPlaneConstraint::FREE:
        return AxisPlaneConstraint::PLANE;
        break;
      case AxisPlaneConstraint::PLANE:
        return AxisPlaneConstraint::AXIS;
        break;
      case AxisPlaneConstraint::AXIS:
        return AxisPlaneConstraint::FORBIDDEN;
        break;
      case AxisPlaneConstraint::FORBIDDEN:
        return AxisPlaneConstraint::FREE;
        break;
      default:
        return AxisPlaneConstraint::FREE;
      }
    }

    AxisPlaneConstraint::Type
    Viewer::nextRotationConstraintType(const AxisPlaneConstraint::Type &type) {
      switch (type) {
      case AxisPlaneConstraint::FREE:
        return AxisPlaneConstraint::AXIS;
        break;
      case AxisPlaneConstraint::AXIS:
        return AxisPlaneConstraint::FORBIDDEN;
        break;
      case AxisPlaneConstraint::PLANE:
      case AxisPlaneConstraint::FORBIDDEN:
        return AxisPlaneConstraint::FREE;
        break;
      default:
        return AxisPlaneConstraint::FREE;
      }
    }

    void Viewer::changeConstraint() {
      unsigned short previous = activeConstraint;
      activeConstraint = (activeConstraint + 1) % 3;

      constraints[activeConstraint]->setTranslationConstraintType(
          constraints[previous]->translationConstraintType());
      constraints[activeConstraint]->setTranslationConstraintDirection(
          constraints[previous]->translationConstraintDirection());
      constraints[activeConstraint]->setRotationConstraintType(
          constraints[previous]->rotationConstraintType());
      constraints[activeConstraint]->setRotationConstraintDirection(
          constraints[previous]->rotationConstraintDirection());

      frame->setConstraint(constraints[activeConstraint]);
    }

    void Viewer::init() {
      constraints[0] = new LocalConstraint();
      constraints[1] = new WorldConstraint();
      constraints[2] = new CameraConstraint(camera());

      transDir = 0; // X direction
      rotDir = 0;   // X direction
      activeConstraint = 0;

      frame = new ManipulatedFrame();
      setManipulatedFrame(frame);
      frame->setConstraint(constraints[activeConstraint]);

      setMouseBinding(Qt::AltModifier, Qt::LeftButton, QGLViewer::CAMERA,
                      QGLViewer::ROTATE);
      setMouseBinding(Qt::AltModifier, Qt::RightButton, QGLViewer::CAMERA,
                      QGLViewer::TRANSLATE);
      setMouseBinding(Qt::AltModifier, Qt::MidButton, QGLViewer::CAMERA,
                      QGLViewer::ZOOM);
      setWheelBinding(Qt::AltModifier, QGLViewer::CAMERA, QGLViewer::ZOOM);

      setMouseBinding(Qt::NoModifier, Qt::LeftButton, QGLViewer::FRAME,
                      QGLViewer::ROTATE);
      setMouseBinding(Qt::NoModifier, Qt::RightButton, QGLViewer::FRAME,
                      QGLViewer::TRANSLATE);
      setMouseBinding(Qt::NoModifier, Qt::MidButton, QGLViewer::FRAME,
                      QGLViewer::ZOOM);
      setWheelBinding(Qt::NoModifier, QGLViewer::FRAME, QGLViewer::ZOOM);

      setMouseBinding(Qt::ShiftModifier, Qt::LeftButton, QGLViewer::FRAME,
                      QGLViewer::ROTATE, false);
      setMouseBinding(Qt::ShiftModifier, Qt::RightButton, QGLViewer::FRAME,
                      QGLViewer::TRANSLATE, false);
      setMouseBinding(Qt::ShiftModifier, Qt::MidButton, QGLViewer::FRAME,
                      QGLViewer::ZOOM, false);
      setWheelBinding(Qt::ShiftModifier, QGLViewer::FRAME, QGLViewer::ZOOM, false);

      setAxisIsDrawn();

      setKeyDescription(Qt::Key_G, "Change translation constraint direction");
      setKeyDescription(Qt::Key_D, "Change rotation constraint direction");
      setKeyDescription(Qt::Key_Space, "Change constraint reference");
      setKeyDescription(Qt::Key_T, "Change translation constraint type");
      setKeyDescription(Qt::Key_R, "Change rotation constraint type");

      restoreStateFromFile();
      help();
    }

    void Viewer::draw() {
      glMultMatrixd(frame->matrix());
      drawAxis(0.4f);
      const float scale = 0.3f;
      glScalef(scale, scale, scale);

      const float nbSteps = 200.0;
      glBegin(GL_QUAD_STRIP);
      for (float i = 0; i < nbSteps; ++i) {
        float ratio = i / nbSteps;
        float angle = 21.0 * ratio;
        float c = cos(angle);
        float s = sin(angle);
        float r1 = 1.0 - 0.8 * ratio;
        float r2 = 0.8 - 0.8 * ratio;
        float alt = ratio - 0.5;
        const float nor = .5;
        const float up = sqrt(1.0 - nor * nor);
        glColor3f(1 - ratio, 0.2f, ratio);
        glNormal3f(nor * c * scale, up * scale, nor * s * scale);
        glVertex3f(r1 * c, alt, r1 * s);
        glVertex3f(r2 * c, alt + 0.05, r2 * s);
      }
      glEnd();

      displayText();
    }

    void Viewer::keyPressEvent(QKeyEvent *e) {
      switch (e->key()) {
      case Qt::Key_G:
        transDir = (transDir + 1) % 3;
        break;
      case Qt::Key_D:
        rotDir = (rotDir + 1) % 3;
        break;
      case Qt::Key_Space:
        changeConstraint();
        break;
      case Qt::Key_T:
        constraints[activeConstraint]->setTranslationConstraintType(
            nextTranslationConstraintType(
                constraints[activeConstraint]->translationConstraintType()));
        break;
      case Qt::Key_R:
        constraints[activeConstraint]->setRotationConstraintType(
            nextRotationConstraintType(
                constraints[activeConstraint]->rotationConstraintType()));
        break;
      default:
        QGLViewer::keyPressEvent(e);
      }

      Vec dir(0.0, 0.0, 0.0);
      dir[transDir] = 1.0;
      constraints[activeConstraint]->setTranslationConstraintDirection(dir);

      dir = Vec(0.0, 0.0, 0.0);
      dir[rotDir] = 1.0;
      constraints[activeConstraint]->setRotationConstraintDirection(dir);

      update();
    }

    void Viewer::displayType(const AxisPlaneConstraint::Type type, const int x,
                             const int y, const char c) {
      QString text;
      switch (type) {
      case AxisPlaneConstraint::FREE:
        text = QString("FREE (%1)").arg(c);
        break;
      case AxisPlaneConstraint::PLANE:
        text = QString("PLANE (%1)").arg(c);
        break;
      case AxisPlaneConstraint::AXIS:
        text = QString("AXIS (%1)").arg(c);
        break;
      case AxisPlaneConstraint::FORBIDDEN:
        text = QString("FORBIDDEN (%1)").arg(c);
        break;
      }
      drawText(x, y, text);
    }

    void Viewer::displayDir(const unsigned short dir, const int x, const int y,
                            const char c) {
      QString text;
      switch (dir) {
      case 0:
        text = QString("X (%1)").arg(c);
        break;
      case 1:
        text = QString("Y (%1)").arg(c);
        break;
      case 2:
        text = QString("Z (%1)").arg(c);
        break;
      }
      drawText(x, y, text);
    }

    void Viewer::displayText() {
      glColor4f(foregroundColor().redF(), foregroundColor().greenF(),
                foregroundColor().blueF(), foregroundColor().alphaF());
      glDisable(GL_LIGHTING);
      drawText(10, height() - 30, "TRANSLATION :");
      displayDir(transDir, 190, height() - 30, 'G');
      displayType(constraints[activeConstraint]->translationConstraintType(), 10,
                  height() - 60, 'T');

      drawText(width() - 220, height() - 30, "ROTATION");
      displayDir(rotDir, width() - 100, height() - 30, 'D');
      displayType(constraints[activeConstraint]->rotationConstraintType(),
                  width() - 220, height() - 60, 'R');

      switch (activeConstraint) {
      case 0:
        drawText(20, 20, "Constraint direction defined w/r to LOCAL (SPACE)");
        break;
      case 1:
        drawText(20, 20, "Constraint direction defined w/r to WORLD (SPACE)");
        break;
      case 2:
        drawText(20, 20, "Constraint direction defined w/r to CAMERA (SPACE)");
        break;
      }
      glEnable(GL_LIGHTING);
    }

    QString Viewer::helpString() const {
      QString text("<h2>C o n s t r a i n e d F r a m e</h2>");
      text += "A manipulated frame can be constrained in its displacement.<br><br>";
      text += "Try the different translation (press <b>G</b> and <b>T</b>) and "
              "rotation ";
      text += "(<b>D</b> and <b>R</b>) constraints while moving the frame with the "
              "mouse.<br><br>";
      text += "The constraints can be defined with respect to various coordinates";
      text += "systems : press <b>Space</b> to switch.<br><br>";
      text +=
          "Press the <b>Alt</b> key while moving the mouse to move the camera.<br>";
      text += "Press the <b>Shift</b> key to temporally disable the "
              "constraint.<br><br>";
      text += "You can easily define your own constraints to create a specific "
              "frame behavior.";
      return text;
    }

## main.cpp

    #include "constrainedFrame.h"
    #include <qapplication.h>

    int main(int argc, char **argv) {
      QApplication application(argc, argv);

      Viewer viewer;

      viewer.setWindowTitle("constrainedFrame");

      viewer.show();

      return application.exec();
    }

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