The Frame class represents a coordinate system, defined by a position and an orientation. More...

#include <QGLViewer/frame.h>

Inheritance diagram for qglviewer::Frame:

Signals
void	interpolated ()
void	modified ()
Public Member Functions
	Frame ()
	Frame (const Frame &frame)
Frame &	operator= (const Frame &frame)
virtual	~Frame ()
Private Attributes
Constraint *	constraint_
Quaternion	q_
const Frame *	referenceFrame_
Vec	t_
World coordinates position and orientation
	Frame (const Vec &position, const Quaternion &orientation)
void	setPosition (const Vec &position)
void	setPosition (float x, float y, float z)
void	setPositionWithConstraint (Vec &position)
void	setOrientation (const Quaternion &orientation)
void	setOrientation (double q0, double q1, double q2, double q3)
void	setOrientationWithConstraint (Quaternion &orientation)
void	setPositionAndOrientation (const Vec &position, const Quaternion &orientation)
void	setPositionAndOrientationWithConstraint (Vec &position, Quaternion &orientation)
Vec	position () const
Quaternion	orientation () const
void	getPosition (float &x, float &y, float &z) const
void	getOrientation (double &q0, double &q1, double &q2, double &q3) const
Local translation and rotation w/r reference Frame
void	setTranslation (const Vec &translation)
void	setTranslation (float x, float y, float z)
void	setTranslationWithConstraint (Vec &translation)
void	setRotation (const Quaternion &rotation)
void	setRotation (double q0, double q1, double q2, double q3)
void	setRotationWithConstraint (Quaternion &rotation)
void	setTranslationAndRotation (const Vec &translation, const Quaternion &rotation)
void	setTranslationAndRotationWithConstraint (Vec &translation, Quaternion &rotation)
Vec	translation () const
Quaternion	rotation () const
void	getTranslation (float &x, float &y, float &z) const
void	getRotation (double &q0, double &q1, double &q2, double &q3) const
Frame hierarchy
const Frame *	referenceFrame () const
void	setReferenceFrame (const Frame *const refFrame)
bool	settingAsReferenceFrameWillCreateALoop (const Frame *const frame)
Frame modification
void	translate (Vec &t)
void	translate (const Vec &t)
void	translate (float x, float y, float z)
void	translate (float &x, float &y, float &z)
void	rotate (Quaternion &q)
void	rotate (const Quaternion &q)
void	rotate (double q0, double q1, double q2, double q3)
void	rotate (double &q0, double &q1, double &q2, double &q3)
void	rotateAroundPoint (Quaternion &rotation, const Vec &point)
void	rotateAroundPoint (const Quaternion &rotation, const Vec &point)
void	alignWithFrame (const Frame *const frame, bool move=false, float threshold=0.85f)
void	projectOnLine (const Vec &origin, const Vec &direction)
Coordinate system transformation of 3D coordinates
Vec	coordinatesOf (const Vec &src) const
Vec	inverseCoordinatesOf (const Vec &src) const
Vec	localCoordinatesOf (const Vec &src) const
Vec	localInverseCoordinatesOf (const Vec &src) const
Vec	coordinatesOfIn (const Vec &src, const Frame *const in) const
Vec	coordinatesOfFrom (const Vec &src, const Frame *const from) const
void	getCoordinatesOf (const float src[3], float res[3]) const
void	getInverseCoordinatesOf (const float src[3], float res[3]) const
void	getLocalCoordinatesOf (const float src[3], float res[3]) const
void	getLocalInverseCoordinatesOf (const float src[3], float res[3]) const
void	getCoordinatesOfIn (const float src[3], float res[3], const Frame *const in) const
void	getCoordinatesOfFrom (const float src[3], float res[3], const Frame *const from) const
Coordinate system transformation of vectors
Vec	transformOf (const Vec &src) const
Vec	inverseTransformOf (const Vec &src) const
Vec	localTransformOf (const Vec &src) const
Vec	localInverseTransformOf (const Vec &src) const
Vec	transformOfIn (const Vec &src, const Frame *const in) const
Vec	transformOfFrom (const Vec &src, const Frame *const from) const
void	getTransformOf (const float src[3], float res[3]) const
void	getInverseTransformOf (const float src[3], float res[3]) const
void	getLocalTransformOf (const float src[3], float res[3]) const
void	getLocalInverseTransformOf (const float src[3], float res[3]) const
void	getTransformOfIn (const float src[3], float res[3], const Frame *const in) const
void	getTransformOfFrom (const float src[3], float res[3], const Frame *const from) const
Constraint on the displacement
Constraint *	constraint () const
void	setConstraint (Constraint *const constraint)
Associated matrices
const GLdouble *	matrix () const
void	getMatrix (GLdouble m[4][4]) const
void	getMatrix (GLdouble m[16]) const
const GLdouble *	worldMatrix () const
void	getWorldMatrix (GLdouble m[4][4]) const
void	getWorldMatrix (GLdouble m[16]) const
void	setFromMatrix (const GLdouble m[4][4])
void	setFromMatrix (const GLdouble m[16])
Inversion of the transformation
Frame	inverse () const
Frame	worldInverse () const
XML representation
virtual QDomElement	domElement (const QString &name, QDomDocument &document) const
virtual void	initFromDOMElement (const QDomElement &element)

Detailed Description

The Frame class represents a coordinate system, defined by a position and an orientation.

A Frame is a 3D coordinate system, represented by a position() and an orientation(). The order of these transformations is important: the Frame is first translated and then rotated around the new translated origin.

A Frame is useful to define the position and orientation of a 3D rigid object, using its matrix() method, as shown below:

  // Builds a Frame at position (0.5,0,0) and oriented such that its Y axis is along the (1,1,1)
  // direction. One could also have used setPosition() and setOrientation().
  Frame fr(Vec(0.5,0,0), Quaternion(Vec(0,1,0), Vec(1,1,1)));
  glPushMatrix();
  glMultMatrixd(fr.matrix());
  // Draw your object here, in the local fr coordinate system.
  glPopMatrix();

Many functions are provided to transform a 3D point from one coordinate system (Frame) to an other: see coordinatesOf(), inverseCoordinatesOf(), coordinatesOfIn(), coordinatesOfFrom()...

You may also want to transform a 3D vector (such as a normal), which corresponds to applying only the rotational part of the frame transformation: see transformOf() and inverseTransformOf(). See the frameTransform example for an illustration.

The translation() and the rotation() that are encapsulated in a Frame can also be used to represent a rigid transformation of space. Such a transformation can also be interpreted as a change of coordinate system, and the coordinate system conversion functions actually allow you to use a Frame as a rigid transformation. Use inverseCoordinatesOf() (resp. coordinatesOf()) to apply the transformation (resp. its inverse). Note the inversion.

Hierarchy of Frames

The position and the orientation of a Frame are actually defined with respect to a referenceFrame(). The default referenceFrame() is the world coordinate system (represented by a NULL referenceFrame()). If you setReferenceFrame() to a different Frame, you must then differentiate:

the local translation() and rotation(), defined with respect to the referenceFrame(),

the global position() and orientation(), always defined with respect to the world coordinate system.

A Frame is actually defined by its translation() with respect to its referenceFrame(), and then by a rotation() of the coordinate system around the new translated origin.

This terminology for local (translation() and rotation()) and global (position() and orientation()) definitions is used in all the methods' names and should be sufficient to prevent ambiguities. These notions are obviously identical when the referenceFrame() is NULL, i.e. when the Frame is defined in the world coordinate system (the one you are in at the beginning of the QGLViewer::draw() method, see the introduction page).

Frames can hence easily be organized in a tree hierarchy, which root is the world coordinate system. A loop in the hierarchy would result in an inconsistent (multiple) Frame definition. settingAsReferenceFrameWillCreateALoop() checks this and prevents setReferenceFrame() from creating such a loop.

This frame hierarchy is used in methods like coordinatesOfIn(), coordinatesOfFrom()... which allow coordinates (or vector) conversions from a Frame to any other one (including the world coordinate system).

However, one must note that this hierarchical representation is internal to the Frame classes. When the Frames represent OpenGL coordinates system, one should map this hierarchical representation to the OpenGL GL_MODELVIEW matrix stack. See the matrix() documentation for details.

Constraints

An interesting feature of Frames is that their displacements can be constrained. When a Constraint is attached to a Frame, it filters the input of translate() and rotate(), and only the resulting filtered motion is applied to the Frame. The default constraint() is NULL resulting in no filtering. Use setConstraint() to attach a Constraint to a frame.

Constraints are especially usefull for the ManipulatedFrame instances, in order to forbid some mouse motions. See the constrainedFrame, constrainedCamera and luxo examples for an illustration.

Classical constraints are provided for convenience (see LocalConstraint, WorldConstraint and CameraConstraint) and new constraints can very easily be implemented.

Derived classes

The ManipulatedFrame class inherits Frame and implements a mouse motion convertion, so that a Frame (and hence an object) can be manipulated in the scene with the mouse.

Definition at line 126 of file frame.h.

Constructor & Destructor Documentation

Frame::Frame ( )

Creates a default Frame.

Its position() is (0,0,0) and it has an identity orientation() Quaternion. The referenceFrame() and the constraint() are NULL.

Definition at line 35 of file frame.cpp.

virtual qglviewer::Frame::~Frame ( ) [inline, virtual]

Virtual destructor. Empty.

Definition at line 134 of file frame.h.

Frame::Frame ( const Frame & frame )

Copy constructor.

The translation() and rotation() as well as constraint() and referenceFrame() pointers are copied.

Definition at line 68 of file frame.cpp.

Frame::Frame	(	const Vec &	position,
		const Quaternion &	orientation
	)

Creates a Frame with a position() and an orientation().

See the Vec and Quaternion documentations for convenient constructors and methods.

The Frame is defined in the world coordinate system (its referenceFrame() is NULL). It has a NULL associated constraint().

Definition at line 45 of file frame.cpp.

Member Function Documentation

void Frame::alignWithFrame	(	const Frame *const	frame,
		bool	move = `false`,
		float	threshold = `0.85f`
	)

Aligns the Frame with frame, so that two of their axis are parallel.

If one of the X, Y and Z axis of the Frame is almost parallel to any of the X, Y, or Z axis of frame, the Frame is rotated so that these two axis actually become parallel.

If, after this first rotation, two other axis are also almost parallel, a second alignment is performed. The two frames then have identical orientations, up to 90 degrees rotations.

threshold measures how close two axis must be to be considered parallel. It is compared with the absolute values of the dot product of the normalized axis.

When move is set to true, the Frame position() is also affected by the alignment. The new Frame position() is such that the frame position (computed with coordinatesOf(), in the Frame coordinates system) does not change.

frame may be NULL and then represents the world coordinate system (same convention than for the referenceFrame()).

The rotation (and translation when move is true) applied to the Frame are filtered by the possible constraint().

Definition at line 1045 of file frame.cpp.

Constraint* qglviewer::Frame::constraint ( ) const [inline]

Returns the current constraint applied to the Frame.

A NULL value (default) means that no Constraint is used to filter Frame translation and rotation. See the Constraint class documentation for details.

You may have to use a dynamic_cast to convert the result to a Constraint derived class.

Definition at line 363 of file frame.h.

Vec Frame::coordinatesOf ( const Vec & src ) const

Returns the Frame coordinates of a point src defined in the world coordinate system (converts from world to Frame).

inverseCoordinatesOf() performs the inverse convertion. transformOf() converts 3D vectors instead of 3D coordinates.

See the frameTransform example for an illustration.

Definition at line 693 of file frame.cpp.

Vec Frame::coordinatesOfFrom	(	const Vec &	src,
		const Frame *const	from
	)		const

Returns the Frame coordinates of the point whose position in the from coordinate system is src (converts from from to Frame).

coordinatesOfIn() performs the inverse transformation.

Definition at line 740 of file frame.cpp.

Vec Frame::coordinatesOfIn	(	const Vec &	src,
		const Frame *const	in
	)		const

Returns the in coordinates of the point whose position in the Frame coordinate system is src (converts from Frame to in).

coordinatesOfFrom() performs the inverse transformation.

Definition at line 755 of file frame.cpp.

QDomElement Frame::domElement	(	const QString &	name,
		QDomDocument &	document
	)		const `[virtual]`

Returns an XML QDomElement that represents the Frame.

name is the name of the QDomElement tag. doc is the QDomDocument factory used to create QDomElement.

The resulting QDomElement looks like:

 <name>
   <position x=".." y=".." z=".." />
   <orientation q0=".." q1=".." q2=".." q3=".." />
 </name>

Use initFromDOMElement() to restore the Frame state from the resulting QDomElement.

See Vec::domElement() for a complete example. See also Quaternion::domElement(), Camera::domElement()...

Attention:: The constraint() and referenceFrame() are not saved in the QDomElement.

Reimplemented in qglviewer::ManipulatedFrame, and qglviewer::ManipulatedCameraFrame.

Definition at line 985 of file frame.cpp.

void Frame::getCoordinatesOf	(	const float	src[3],
		float	res[3]
	)		const

Same as coordinatesOf(), but with float parameters.

Definition at line 776 of file frame.cpp.

void Frame::getCoordinatesOfFrom	(	const float	src[3],
		float	res[3],
		const Frame *const	from
	)		const

Same as coordinatesOfFrom(), but with float parameters.

Definition at line 816 of file frame.cpp.

void Frame::getCoordinatesOfIn	(	const float	src[3],
		float	res[3],
		const Frame *const	in
	)		const

Same as coordinatesOfIn(), but with float parameters.

Definition at line 808 of file frame.cpp.

void Frame::getInverseCoordinatesOf	(	const float	src[3],
		float	res[3]
	)		const

Same as inverseCoordinatesOf(), but with float parameters.

Definition at line 784 of file frame.cpp.

void Frame::getInverseTransformOf	(	const float	src[3],
		float	res[3]
	)		const

Same as inverseTransformOf(), but with float parameters.

Definition at line 925 of file frame.cpp.

void Frame::getLocalCoordinatesOf	(	const float	src[3],
		float	res[3]
	)		const

Same as localCoordinatesOf(), but with float parameters.

Definition at line 792 of file frame.cpp.

void Frame::getLocalInverseCoordinatesOf	(	const float	src[3],
		float	res[3]
	)		const

Same as localInverseCoordinatesOf(), but with float parameters.

Definition at line 800 of file frame.cpp.

void Frame::getLocalInverseTransformOf	(	const float	src[3],
		float	res[3]
	)		const

Same as localInverseTransformOf(), but with float parameters.

Definition at line 941 of file frame.cpp.

void Frame::getLocalTransformOf	(	const float	src[3],
		float	res[3]
	)		const

Same as localTransformOf(), but with float parameters.

Definition at line 933 of file frame.cpp.

void Frame::getMatrix ( GLdouble m[4][4] ) const

GLdouble[4][4] version of matrix(). See also getWorldMatrix() and matrix().

Definition at line 131 of file frame.cpp.

void Frame::getMatrix ( GLdouble m[16] ) const

GLdouble[16] version of matrix(). See also getWorldMatrix() and matrix().

Definition at line 141 of file frame.cpp.

void Frame::getOrientation	(	double &	q0,
		double &	q1,
		double &	q2,
		double &	q3
	)		const

Get the current orientation of the frame (same as orientation()). Parameters are the orientation Quaternion values. See also setOrientation().

The q are set to the orientation() of the Frame.

See Quaternion::Quaternion(double, double, double, double) for details on q.

Definition at line 526 of file frame.cpp.

void Frame::getPosition	(	float &	x,
		float &	y,
		float &	z
	)		const

x, y and z are set to the position() of the Frame.

Definition at line 492 of file frame.cpp.

void Frame::getRotation	(	double &	q0,
		double &	q1,
		double &	q2,
		double &	q3
	)		const

The q are set to the rotation() of the Frame.

See Quaternion::Quaternion(double, double, double, double) for details on q.

Definition at line 308 of file frame.cpp.

void Frame::getTransformOf	(	const float	src[3],
		float	res[3]
	)		const

Same as transformOf(), but with float parameters.

Definition at line 917 of file frame.cpp.

void Frame::getTransformOfFrom	(	const float	src[3],
		float	res[3],
		const Frame *const	from
	)		const

Same as transformOfFrom(), but with float parameters.

Definition at line 957 of file frame.cpp.

void Frame::getTransformOfIn	(	const float	src[3],
		float	res[3],
		const Frame *const	in
	)		const

Same as transformOfIn(), but with float parameters.

Definition at line 949 of file frame.cpp.

void Frame::getTranslation	(	float &	x,
		float &	y,
		float &	z
	)		const

Fill x, y and z with the translation() of the Frame.

Definition at line 291 of file frame.cpp.

void Frame::getWorldMatrix ( GLdouble m[4][4] ) const

float[4][4] parameter version of worldMatrix(). See also getMatrix() and matrix().

Definition at line 211 of file frame.cpp.

void Frame::getWorldMatrix ( GLdouble m[16] ) const

float[16] parameter version of worldMatrix(). See also getMatrix() and matrix().

Definition at line 220 of file frame.cpp.

void Frame::initFromDOMElement ( const QDomElement & element ) [virtual, slot]

Restores the Frame state from a QDomElement created by domElement().

See domElement() for the QDomElement syntax. See the Vec::initFromDOMElement() and Quaternion::initFromDOMElement() documentations for details on default values if an argument is missing.

Attention:: The constraint() and referenceFrame() are not restored by this method and are left unchanged.

Reimplemented in qglviewer::ManipulatedFrame, and qglviewer::ManipulatedCameraFrame.

Definition at line 1002 of file frame.cpp.

void qglviewer::Frame::interpolated ( ) [signal]

This signal is emitted when the Frame is interpolated by a KeyFrameInterpolator.

See the KeyFrameInterpolator documentation for details.

If a KeyFrameInterpolator is used to successively interpolate several Frames in your scene, connect the KeyFrameInterpolator::interpolated() signal instead (identical, but independent of the interpolated Frame).

Frame Frame::inverse ( ) const

Returns a Frame representing the inverse of the Frame space transformation.

The rotation() of the new Frame is the Quaternion::inverse() of the original rotation. Its translation() is the negated inverse rotated image of the original translation.

If a Frame is considered as a space rigid transformation (translation and rotation), the inverse() Frame performs the inverse transformation.

Only the local Frame transformation (i.e. defined with respect to the referenceFrame()) is inverted. Use worldInverse() for a global inverse.

The resulting Frame has the same referenceFrame() as the Frame and a NULL constraint().

Note:: The scaling factor of the 4x4 matrix is 1.0.

Definition at line 164 of file frame.cpp.

Vec Frame::inverseCoordinatesOf ( const Vec & src ) const

Returns the world coordinates of the point whose position in the Frame coordinate system is src (converts from Frame to world).

coordinatesOf() performs the inverse convertion. Use inverseTransformOf() to transform 3D vectors instead of 3D coordinates.

Definition at line 706 of file frame.cpp.

Vec Frame::inverseTransformOf ( const Vec & src ) const

Returns the world transform of the vector whose coordinates in the Frame coordinate system is src (converts vectors from Frame to world).

transformOf() performs the inverse transformation. Use inverseCoordinatesOf() to transform 3D coordinates instead of 3D vectors.

Definition at line 847 of file frame.cpp.

Vec Frame::localCoordinatesOf ( const Vec & src ) const

Returns the Frame coordinates of a point src defined in the referenceFrame() coordinate system (converts from referenceFrame() to Frame).

localInverseCoordinatesOf() performs the inverse convertion. See also localTransformOf().

Definition at line 722 of file frame.cpp.

Vec Frame::localInverseCoordinatesOf ( const Vec & src ) const

Returns the referenceFrame() coordinates of a point src defined in the Frame coordinate system (converts from Frame to referenceFrame()).

localCoordinatesOf() performs the inverse convertion. See also localInverseTransformOf().

Definition at line 731 of file frame.cpp.

Vec Frame::localInverseTransformOf ( const Vec & src ) const

Returns the referenceFrame() transform of a vector src defined in the Frame coordinate system (converts vectors from Frame to referenceFrame()).

localTransformOf() performs the inverse transformation. See also localInverseCoordinatesOf().

Definition at line 872 of file frame.cpp.

Vec Frame::localTransformOf ( const Vec & src ) const

Returns the Frame transform of a vector src defined in the referenceFrame() coordinate system (converts vectors from referenceFrame() to Frame).

localInverseTransformOf() performs the inverse transformation. See also localCoordinatesOf().

Definition at line 863 of file frame.cpp.

const GLdouble * Frame::matrix ( ) const

Returns the 4x4 OpenGL transformation matrix represented by the Frame.

This method should be used in conjunction with glMultMatrixd() to modify the OpenGL modelview matrix from a Frame hierarchy. With this Frame hierarchy:

  Frame* body     = new Frame();
  Frame* leftArm  = new Frame();
  Frame* rightArm = new Frame();
  leftArm->setReferenceFrame(body);
  rightArm->setReferenceFrame(body);

The associated OpenGL drawing code should look like:

  void Viewer::draw()
  {
    glPushMatrix();
    glMultMatrixd(body->matrix());
    drawBody();

    glPushMatrix();
    glMultMatrixd(leftArm->matrix());
    drawArm();
    glPopMatrix();

    glPushMatrix();
    glMultMatrixd(rightArm->matrix());
    drawArm();
    glPopMatrix();

    glPopMatrix();
  }

Note the use of nested glPushMatrix() and glPopMatrix() blocks to represent the frame hierarchy: leftArm and rightArm are both correctly drawn with respect to the body coordinate system.

This matrix only represents the local Frame transformation (i.e. with respect to the referenceFrame()). Use worldMatrix() to get the full Frame transformation matrix (i.e. from the world to the Frame coordinate system). These two match when the referenceFrame() is NULL.

The result is only valid until the next call to matrix(), getMatrix(), worldMatrix() or getWorldMatrix(). Use it immediately (as above) or use getMatrix() instead.

Attention:: The OpenGL format of the result is the transpose of the actual mathematical European representation (translation is on the last line instead of the last column).

Note:: The scaling factor of the 4x4 matrix is 1.0.

Definition at line 123 of file frame.cpp.

void qglviewer::Frame::modified ( ) [signal]

This signal is emitted whenever the position() or the orientation() of the Frame is modified.

Connect this signal to any object that must be notified:

    QObject::connect(myFrame, SIGNAL(modified()), myObject, SLOT(update()));

Use the QGLViewer::QGLViewerPool() to connect the signal to all the viewers.

Note:

If your Frame is part of a Frame hierarchy (see referenceFrame()), a modification of one of the parents of this Frame will not emit this signal. Use code like this to change this behavior (you can do this recursively for all the referenceFrame() until the NULL world root frame is encountered):

    // Emits the Frame modified() signal when its referenceFrame() is modified().
    connect(myFrame->referenceFrame(), SIGNAL(modified()), myFrame, SIGNAL(modified()));

Attention:: Connecting this signal to a QGLWidget::updateGL() slot (or a method that calls it) will prevent you from modifying the Frame inside your QGLViewer::draw() method as it would result in an infinite loop. However, QGLViewer::draw() should not modify the scene.

Note:: For efficiency reasons, this signal is emitted even if the Frame is not actually modified, for instance with translate(Vec(0,0,0)) or setPosition(position()).

Frame & Frame::operator= ( const Frame & frame )

Equal operator.

The referenceFrame() and constraint() pointers are copied.

Attention:: Signal and slot connections are not copied.

Definition at line 54 of file frame.cpp.

Quaternion Frame::orientation ( ) const

Returns the orientation of the Frame, defined in the world coordinate system. See also position(), setOrientation() and rotation().

Definition at line 537 of file frame.cpp.

Vec qglviewer::Frame::position ( ) const [inline]

Returns the position of the Frame, defined in the world coordinate system. See also orientation(), setPosition() and translation().

Definition at line 192 of file frame.h.

void Frame::projectOnLine	(	const Vec &	origin,
		const Vec &	direction
	)

Translates the Frame so that its position() lies on the line defined by origin and direction (defined in the world coordinate system).

Simply uses an orthogonal projection. direction does not need to be normalized.

Definition at line 1126 of file frame.cpp.

const Frame* qglviewer::Frame::referenceFrame ( ) const [inline]

Returns the reference Frame, in which coordinates system the Frame is defined.

The translation() and rotation() of the Frame are defined with respect to the referenceFrame() coordinate system. A NULL referenceFrame() (default value) means that the Frame is defined in the world coordinate system.

Use position() and orientation() to recursively convert values along the referenceFrame() chain and to get values expressed in the world coordinate system. The values match when the referenceFrame() is NULL.

Use setReferenceFrame() to set this value and create a Frame hierarchy. Convenient functions allow you to convert 3D coordinates from one Frame to an other: see coordinatesOf(), localCoordinatesOf(), coordinatesOfIn() and their inverse functions.

Vectors can also be converted using transformOf(), transformOfIn, localTransformOf() and their inverse functions.

Definition at line 269 of file frame.h.

void Frame::rotate ( Quaternion & q )

Same as rotate(const Quaternion&) but q may be modified to satisfy the rotation constraint(). Its new value corresponds to the rotation that has actually been applied to the Frame.

Definition at line 376 of file frame.cpp.

void Frame::rotate ( const Quaternion & q )

Rotates the Frame by q (defined in the Frame coordinate system): R = R*q.

The rotation actually applied to the Frame may differ from q since it can be filtered by the constraint(). Use rotate(Quaternion&) or setRotationWithConstraint() to retrieve the filtered rotation value. Use setRotation() to directly rotate the Frame without taking the constraint() into account.

See also translate(const Vec&). Emits the modified() signal.

Definition at line 368 of file frame.cpp.

void Frame::rotate	(	double	q0,
		double	q1,
		double	q2,
		double	q3
	)

Same as rotate(const Quaternion&) but with float Quaternion parameters.

Definition at line 397 of file frame.cpp.

void Frame::rotate	(	double &	q0,
		double &	q1,
		double &	q2,
		double &	q3
	)

Same as rotate(Quaternion&) but with float Quaternion parameters.

Definition at line 386 of file frame.cpp.

void Frame::rotateAroundPoint	(	Quaternion &	rotation,
		const Vec &	point
	)

Makes the Frame rotate() by rotation around point.

point is defined in the world coordinate system, while the rotation axis is defined in the Frame coordinate system.

If the Frame has a constraint(), rotation is first constrained using Constraint::constrainRotation(). The translation which results from the filtered rotation around point is then computed and filtered using Constraint::constrainTranslation(). The new rotation value corresponds to the rotation that has actually been applied to the Frame.

Emits the modified() signal.

Definition at line 414 of file frame.cpp.

void Frame::rotateAroundPoint	(	const Quaternion &	rotation,
		const Vec &	point
	)

Same as rotateAroundPoint(), but with a const rotation Quaternion. Note that the actual rotation may differ since it can be filtered by the constraint().

Definition at line 429 of file frame.cpp.

Quaternion qglviewer::Frame::rotation ( ) const [inline]

Returns the Frame rotation, defined with respect to the referenceFrame().

Use orientation() to get the result in the world coordinates. These two values are identical when the referenceFrame() is NULL (default).

Returns the current Quaternion orientation. See setRotation().

Definition at line 244 of file frame.h.

void qglviewer::Frame::setConstraint ( Constraint *const constraint ) [inline]

Sets the constraint() attached to the Frame.

A NULL value means no constraint. The previous constraint() should be deleted by the calling method if needed.

Definition at line 368 of file frame.h.

void Frame::setFromMatrix ( const GLdouble m[4][4] )

This is an overloaded method provided for convenience. Same as setFromMatrix().

Definition at line 228 of file frame.cpp.

void Frame::setFromMatrix ( const GLdouble m[16] )

Sets the Frame from an OpenGL matrix representation (rotation in the upper left 3x3 matrix and translation on the last line).

Hence, if a code fragment looks like:

 GLdouble m[16]={...};
 glMultMatrixd(m);

It is equivalent to write:

 Frame fr;
 fr.setFromMatrix(m);
 glMultMatrixd(fr.matrix());

Using this conversion, you can benefit from the powerful Frame transformation methods to translate points and vectors to and from the Frame coordinate system to any other Frame coordinate system (including the world coordinate system). See coordinatesOf() and transformOf().

Emits the modified() signal. See also matrix(), getMatrix() and Quaternion::setFromRotationMatrix().

Attention:: A Frame does not contain a scale factor. The possible scaling in m will not be converted into the Frame by this method.

Definition at line 272 of file frame.cpp.

void Frame::setOrientation ( const Quaternion & orientation )

Sets the orientation() of the Frame, defined in the world coordinate system. Emits the modified() signal.

Use setRotation() to define the local frame rotation (with respect to the referenceFrame()). The potential constraint() of the Frame is not taken into account, use setOrientationWithConstraint() instead.

Definition at line 505 of file frame.cpp.

void Frame::setOrientation	(	double	q0,
		double	q1,
		double	q2,
		double	q3
	)

Same as setOrientation(), but with float parameters.

Definition at line 514 of file frame.cpp.

void Frame::setOrientationWithConstraint ( Quaternion & orientation )

Same as setOrientation(), but orientation is modified so that the potential constraint() of the Frame is satisfied. See also setPositionWithConstraint() and setRotationWithConstraint().

Definition at line 622 of file frame.cpp.

void Frame::setPosition ( const Vec & position )

Sets the position() of the Frame, defined in the world coordinate system. Emits the modified() signal.

Use setTranslation() to define the local frame translation (with respect to the referenceFrame()). The potential constraint() of the Frame is not taken into account, use setPositionWithConstraint() instead.

Definition at line 443 of file frame.cpp.

void Frame::setPosition	(	float	x,
		float	y,
		float	z
	)

Same as setPosition(), but with float parameters.

Definition at line 452 of file frame.cpp.

void Frame::setPositionAndOrientation	(	const Vec &	position,
		const Quaternion &	orientation
	)

Same as successive calls to setPosition() and then setOrientation().

Only one modified() signal is emitted, which is convenient if this signal is connected to a QGLViewer::updateGL() slot. See also setTranslationAndRotation() and setPositionAndOrientationWithConstraint().

Definition at line 462 of file frame.cpp.

void Frame::setPositionAndOrientationWithConstraint	(	Vec &	position,
		Quaternion &	orientation
	)

Same as setPositionAndOrientation() but position and orientation are modified to satisfy the constraint. Emits the modified() signal.

Definition at line 632 of file frame.cpp.

void Frame::setPositionWithConstraint ( Vec & position )

Same as setPosition(), but position is modified so that the potential constraint() of the Frame is satisfied. See also setOrientationWithConstraint() and setTranslationWithConstraint().

Definition at line 612 of file frame.cpp.

void Frame::setReferenceFrame ( const Frame *const refFrame )

Sets the referenceFrame() of the Frame.

The Frame translation() and rotation() are then defined in the referenceFrame() coordinate system. Use position() and orientation() to express these in the world coordinate system.

Emits the modified() signal if refFrame differs from the current referenceFrame().

Using this method, you can create a hierarchy of Frames. This hierarchy needs to be a tree, which root is the world coordinate system (i.e. a NULL referenceFrame()). A warning is printed and no action is performed if setting refFrame as the referenceFrame() would create a loop in the Frame hierarchy (see settingAsReferenceFrameWillCreateALoop()).

Definition at line 656 of file frame.cpp.

void qglviewer::Frame::setRotation ( const Quaternion & rotation ) [inline]

Set the current rotation Quaternion. See rotation() and the different Quaternion constructors. Emits the modified() signal. See also setTranslation() and setRotationWithConstraint().

Sets the rotation() of the Frame, locally defined with respect to the referenceFrame(). Emits the modified() signal.

Use setOrientation() to define the world coordinates orientation(). The potential constraint() of the Frame is not taken into account, use setRotationWithConstraint() instead.

Definition at line 222 of file frame.h.

void Frame::setRotation	(	double	q0,
		double	q1,
		double	q2,
		double	q3
	)

Same as setRotation() but with float Quaternion parameters.

Definition at line 300 of file frame.cpp.

void Frame::setRotationWithConstraint ( Quaternion & rotation )

Same as setRotation(), but rotation is modified so that the potential constraint() of the Frame is satisfied.

Emits the modified() signal. See also setTranslationWithConstraint() and setOrientationWithConstraint().

Definition at line 570 of file frame.cpp.

bool Frame::settingAsReferenceFrameWillCreateALoop ( const Frame *const frame )

Returns true if setting frame as the Frame's referenceFrame() would create a loop in the Frame hierarchy.

Definition at line 671 of file frame.cpp.

void qglviewer::Frame::setTranslation ( const Vec & translation ) [inline]

Sets the translation() of the frame, locally defined with respect to the referenceFrame(). Emits the modified() signal.

Use setPosition() to define the world coordinates position(). Use setTranslationWithConstraint() to take into account the potential constraint() of the Frame.

Definition at line 208 of file frame.h.

void Frame::setTranslation	(	float	x,
		float	y,
		float	z
	)

Same as setTranslation(), but with float parameters.

Definition at line 285 of file frame.cpp.

void Frame::setTranslationAndRotation	(	const Vec &	translation,
		const Quaternion &	rotation
	)

Same as successive calls to setTranslation() and then setRotation().

Only one modified() signal is emitted, which is convenient if this signal is connected to a QGLViewer::updateGL() slot. See also setPositionAndOrientation() and setTranslationAndRotationWithConstraint().

Definition at line 483 of file frame.cpp.

void Frame::setTranslationAndRotationWithConstraint	(	Vec &	translation,
		Quaternion &	rotation
	)

Same as setTranslationAndRotation(), but translation and orientation are modified to satisfy the constraint(). Emits the modified() signal.

Definition at line 586 of file frame.cpp.

void Frame::setTranslationWithConstraint ( Vec & translation )

Same as setTranslation(), but translation is modified so that the potential constraint() of the Frame is satisfied.

Emits the modified() signal. See also setRotationWithConstraint() and setPositionWithConstraint().

Definition at line 556 of file frame.cpp.

Vec Frame::transformOf ( const Vec & src ) const

Returns the Frame transform of a vector src defined in the world coordinate system (converts vectors from world to Frame).

inverseTransformOf() performs the inverse transformation. coordinatesOf() converts 3D coordinates instead of 3D vectors (here only the rotational part of the transformation is taken into account).

See the frameTransform example for an illustration.

Definition at line 834 of file frame.cpp.

Vec Frame::transformOfFrom	(	const Vec &	src,
		const Frame *const	from
	)		const

Returns the Frame transform of the vector whose coordinates in the from coordinate system is src (converts vectors from from to Frame).

transformOfIn() performs the inverse transformation.

Definition at line 881 of file frame.cpp.

Vec Frame::transformOfIn	(	const Vec &	src,
		const Frame *const	in
	)		const

Returns the in transform of the vector whose coordinates in the Frame coordinate system is src (converts vectors from Frame to in).

transformOfFrom() performs the inverse transformation.

Definition at line 896 of file frame.cpp.

void Frame::translate ( Vec & t )

Same as translate(const Vec&) but t may be modified to satisfy the translation constraint(). Its new value corresponds to the translation that has actually been applied to the Frame.

Definition at line 335 of file frame.cpp.

void Frame::translate ( const Vec & t )

Translates the Frame of t (defined in the Frame coordinate system).

The translation actually applied to the Frame may differ from t since it can be filtered by the constraint(). Use translate(Vec&) or setTranslationWithConstraint() to retrieve the filtered translation value. Use setTranslation() to directly translate the Frame without taking the constraint() into account.

See also rotate(const Quaternion&). Emits the modified() signal.

Definition at line 327 of file frame.cpp.

void Frame::translate	(	float	x,
		float	y,
		float	z
	)

Same as translate(const Vec&) but with float parameters.

Definition at line 344 of file frame.cpp.

void Frame::translate	(	float &	x,
		float &	y,
		float &	z
	)

Same as translate(Vec&) but with float parameters.

Definition at line 351 of file frame.cpp.

Vec qglviewer::Frame::translation ( ) const [inline]

Returns the Frame translation, defined with respect to the referenceFrame().

Use position() to get the result in the world coordinates. These two values are identical when the referenceFrame() is NULL (default).

Definition at line 235 of file frame.h.

Frame qglviewer::Frame::worldInverse ( ) const [inline]

Returns the inverse() of the Frame world transformation.

The orientation() of the new Frame is the Quaternion::inverse() of the original orientation. Its position() is the negated and inverse rotated image of the original position.

The result Frame has a NULL referenceFrame() and a NULL constraint().

Use inverse() for a local (i.e. with respect to referenceFrame()) transformation inverse.

Definition at line 397 of file frame.h.

const GLdouble * Frame::worldMatrix ( ) const

Returns the 4x4 OpenGL transformation matrix represented by the Frame.

This method should be used in conjunction with glMultMatrixd() to modify the OpenGL modelview matrix from a Frame:

  // The modelview here corresponds to the world coordinate system.
  Frame fr(pos, Quaternion(from, to));
  glPushMatrix();
  glMultMatrixd(fr.worldMatrix());
  // draw object in the fr coordinate system.
  glPopMatrix();

This matrix represents the global Frame transformation: the entire referenceFrame() hierarchy is taken into account to define the Frame transformation from the world coordinate system. Use matrix() to get the local Frame transformation matrix (i.e. defined with respect to the referenceFrame()). These two match when the referenceFrame() is NULL.

The OpenGL format of the result is the transpose of the actual mathematical European representation (translation is on the last line instead of the last column).

Attention:: The result is only valid until the next call to matrix(), getMatrix(), worldMatrix() or getWorldMatrix(). Use it immediately (as above) or use getWorldMatrix() instead.

Note:: The scaling factor of the 4x4 matrix is 1.0.

Definition at line 196 of file frame.cpp.

Member Data Documentation

Constraint* qglviewer::Frame::constraint_ [private]

Definition at line 414 of file frame.h.

Quaternion qglviewer::Frame::q_ [private]

Definition at line 411 of file frame.h.

const Frame* qglviewer::Frame::referenceFrame_ [private]

Definition at line 417 of file frame.h.

Vec qglviewer::Frame::t_ [private]

Definition at line 410 of file frame.h.

The documentation for this class was generated from the following files:

Signals

Public Member Functions

Private Attributes

World coordinates position and orientation

Local translation and rotation w/r reference Frame

Frame hierarchy

Frame modification

Coordinate system transformation of 3D coordinates

Coordinate system transformation of vectors

Constraint on the displacement

Associated matrices

Inversion of the transformation