657 lines
19 KiB
C++
657 lines
19 KiB
C++
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#include "quaternion_demo.h"
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#include "icosphere.h"
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#include <Eigen/Geometry>
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#include <Eigen/QR>
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#include <Eigen/LU>
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#include <iostream>
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#include <QEvent>
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#include <QMouseEvent>
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#include <QInputDialog>
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#include <QGridLayout>
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#include <QButtonGroup>
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#include <QRadioButton>
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#include <QDockWidget>
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#include <QPushButton>
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#include <QGroupBox>
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using namespace Eigen;
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class FancySpheres
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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FancySpheres()
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{
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const int levels = 4;
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const float scale = 0.33;
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float radius = 100;
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std::vector<int> parents;
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// leval 0
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mCenters.push_back(Vector3f::Zero());
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parents.push_back(-1);
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mRadii.push_back(radius);
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// generate level 1 using icosphere vertices
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radius *= 0.45;
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{
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float dist = mRadii[0]*0.9;
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for (int i=0; i<12; ++i)
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{
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mCenters.push_back(mIcoSphere.vertices()[i] * dist);
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mRadii.push_back(radius);
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parents.push_back(0);
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}
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}
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static const float angles [10] = {
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0, 0,
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M_PI, 0.*M_PI,
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M_PI, 0.5*M_PI,
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M_PI, 1.*M_PI,
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M_PI, 1.5*M_PI
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};
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// generate other levels
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int start = 1;
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for (int l=1; l<levels; l++)
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{
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radius *= scale;
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int end = mCenters.size();
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for (int i=start; i<end; ++i)
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{
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Vector3f c = mCenters[i];
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Vector3f ax0 = (c - mCenters[parents[i]]).normalized();
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Vector3f ax1 = ax0.unitOrthogonal();
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Quaternionf q;
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q.setFromTwoVectors(Vector3f::UnitZ(), ax0);
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Affine3f t = Translation3f(c) * q * Scaling(mRadii[i]+radius);
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for (int j=0; j<5; ++j)
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{
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Vector3f newC = c + ( (AngleAxisf(angles[j*2+1], ax0)
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* AngleAxisf(angles[j*2+0] * (l==1 ? 0.35 : 0.5), ax1)) * ax0)
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* (mRadii[i] + radius*0.8);
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mCenters.push_back(newC);
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mRadii.push_back(radius);
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parents.push_back(i);
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}
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}
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start = end;
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}
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}
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void draw()
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{
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int end = mCenters.size();
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glEnable(GL_NORMALIZE);
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for (int i=0; i<end; ++i)
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{
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Affine3f t = Translation3f(mCenters[i]) * Scaling(mRadii[i]);
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gpu.pushMatrix(GL_MODELVIEW);
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gpu.multMatrix(t.matrix(),GL_MODELVIEW);
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mIcoSphere.draw(2);
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gpu.popMatrix(GL_MODELVIEW);
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}
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glDisable(GL_NORMALIZE);
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}
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protected:
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std::vector<Vector3f> mCenters;
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std::vector<float> mRadii;
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IcoSphere mIcoSphere;
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};
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// generic linear interpolation method
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template<typename T> T lerp(float t, const T& a, const T& b)
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{
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return a*(1-t) + b*t;
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}
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// quaternion slerp
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template<> Quaternionf lerp(float t, const Quaternionf& a, const Quaternionf& b)
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{ return a.slerp(t,b); }
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// linear interpolation of a frame using the type OrientationType
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// to perform the interpolation of the orientations
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template<typename OrientationType>
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inline static Frame lerpFrame(float alpha, const Frame& a, const Frame& b)
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{
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return Frame(lerp(alpha,a.position,b.position),
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Quaternionf(lerp(alpha,OrientationType(a.orientation),OrientationType(b.orientation))));
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}
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template<typename _Scalar> class EulerAngles
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{
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public:
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enum { Dim = 3 };
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typedef _Scalar Scalar;
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typedef Matrix<Scalar,3,3> Matrix3;
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typedef Matrix<Scalar,3,1> Vector3;
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typedef Quaternion<Scalar> QuaternionType;
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protected:
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Vector3 m_angles;
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public:
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EulerAngles() {}
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inline EulerAngles(Scalar a0, Scalar a1, Scalar a2) : m_angles(a0, a1, a2) {}
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inline EulerAngles(const QuaternionType& q) { *this = q; }
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const Vector3& coeffs() const { return m_angles; }
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Vector3& coeffs() { return m_angles; }
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EulerAngles& operator=(const QuaternionType& q)
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{
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Matrix3 m = q.toRotationMatrix();
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return *this = m;
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}
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EulerAngles& operator=(const Matrix3& m)
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{
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// mat = cy*cz -cy*sz sy
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// cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx
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// -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy
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m_angles.coeffRef(1) = std::asin(m.coeff(0,2));
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m_angles.coeffRef(0) = std::atan2(-m.coeff(1,2),m.coeff(2,2));
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m_angles.coeffRef(2) = std::atan2(-m.coeff(0,1),m.coeff(0,0));
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return *this;
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}
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Matrix3 toRotationMatrix(void) const
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{
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Vector3 c = m_angles.array().cos();
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Vector3 s = m_angles.array().sin();
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Matrix3 res;
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res << c.y()*c.z(), -c.y()*s.z(), s.y(),
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c.z()*s.x()*s.y()+c.x()*s.z(), c.x()*c.z()-s.x()*s.y()*s.z(), -c.y()*s.x(),
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-c.x()*c.z()*s.y()+s.x()*s.z(), c.z()*s.x()+c.x()*s.y()*s.z(), c.x()*c.y();
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return res;
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}
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operator QuaternionType() { return QuaternionType(toRotationMatrix()); }
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};
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// Euler angles slerp
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template<> EulerAngles<float> lerp(float t, const EulerAngles<float>& a, const EulerAngles<float>& b)
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{
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EulerAngles<float> res;
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res.coeffs() = lerp(t, a.coeffs(), b.coeffs());
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return res;
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}
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RenderingWidget::RenderingWidget()
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{
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mAnimate = false;
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mCurrentTrackingMode = TM_NO_TRACK;
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mNavMode = NavTurnAround;
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mLerpMode = LerpQuaternion;
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mRotationMode = RotationStable;
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mTrackball.setCamera(&mCamera);
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// required to capture key press events
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setFocusPolicy(Qt::ClickFocus);
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}
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void RenderingWidget::grabFrame(void)
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{
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// ask user for a time
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bool ok = false;
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double t = 0;
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if (!m_timeline.empty())
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t = (--m_timeline.end())->first + 1.;
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t = QInputDialog::getDouble(this, "Eigen's RenderingWidget", "time value: ",
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t, 0, 1e3, 1, &ok);
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if (ok)
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{
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Frame aux;
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aux.orientation = mCamera.viewMatrix().linear();
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aux.position = mCamera.viewMatrix().translation();
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m_timeline[t] = aux;
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}
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}
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void RenderingWidget::drawScene()
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{
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static FancySpheres sFancySpheres;
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float length = 50;
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gpu.drawVector(Vector3f::Zero(), length*Vector3f::UnitX(), Color(1,0,0,1));
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gpu.drawVector(Vector3f::Zero(), length*Vector3f::UnitY(), Color(0,1,0,1));
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gpu.drawVector(Vector3f::Zero(), length*Vector3f::UnitZ(), Color(0,0,1,1));
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// draw the fractal object
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float sqrt3 = internal::sqrt(3.);
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glLightfv(GL_LIGHT0, GL_AMBIENT, Vector4f(0.5,0.5,0.5,1).data());
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glLightfv(GL_LIGHT0, GL_DIFFUSE, Vector4f(0.5,1,0.5,1).data());
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glLightfv(GL_LIGHT0, GL_SPECULAR, Vector4f(1,1,1,1).data());
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glLightfv(GL_LIGHT0, GL_POSITION, Vector4f(-sqrt3,-sqrt3,sqrt3,0).data());
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glLightfv(GL_LIGHT1, GL_AMBIENT, Vector4f(0,0,0,1).data());
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glLightfv(GL_LIGHT1, GL_DIFFUSE, Vector4f(1,0.5,0.5,1).data());
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glLightfv(GL_LIGHT1, GL_SPECULAR, Vector4f(1,1,1,1).data());
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glLightfv(GL_LIGHT1, GL_POSITION, Vector4f(-sqrt3,sqrt3,-sqrt3,0).data());
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glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, Vector4f(0.7, 0.7, 0.7, 1).data());
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glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, Vector4f(0.8, 0.75, 0.6, 1).data());
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glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, Vector4f(1, 1, 1, 1).data());
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glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 64);
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glEnable(GL_LIGHTING);
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glEnable(GL_LIGHT0);
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glEnable(GL_LIGHT1);
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sFancySpheres.draw();
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glVertexPointer(3, GL_FLOAT, 0, mVertices[0].data());
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glNormalPointer(GL_FLOAT, 0, mNormals[0].data());
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glEnableClientState(GL_VERTEX_ARRAY);
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glEnableClientState(GL_NORMAL_ARRAY);
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glDrawArrays(GL_TRIANGLES, 0, mVertices.size());
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glDisableClientState(GL_VERTEX_ARRAY);
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glDisableClientState(GL_NORMAL_ARRAY);
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glDisable(GL_LIGHTING);
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}
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void RenderingWidget::animate()
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{
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m_alpha += double(m_timer.interval()) * 1e-3;
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TimeLine::const_iterator hi = m_timeline.upper_bound(m_alpha);
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TimeLine::const_iterator lo = hi;
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--lo;
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Frame currentFrame;
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if(hi==m_timeline.end())
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{
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// end
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currentFrame = lo->second;
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stopAnimation();
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}
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else if(hi==m_timeline.begin())
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{
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// start
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currentFrame = hi->second;
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}
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else
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{
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float s = (m_alpha - lo->first)/(hi->first - lo->first);
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if (mLerpMode==LerpEulerAngles)
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currentFrame = ::lerpFrame<EulerAngles<float> >(s, lo->second, hi->second);
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else if (mLerpMode==LerpQuaternion)
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currentFrame = ::lerpFrame<Eigen::Quaternionf>(s, lo->second, hi->second);
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else
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{
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std::cerr << "Invalid rotation interpolation mode (abort)\n";
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exit(2);
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}
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currentFrame.orientation.coeffs().normalize();
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}
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currentFrame.orientation = currentFrame.orientation.inverse();
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currentFrame.position = - (currentFrame.orientation * currentFrame.position);
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mCamera.setFrame(currentFrame);
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updateGL();
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}
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void RenderingWidget::keyPressEvent(QKeyEvent * e)
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{
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switch(e->key())
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{
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case Qt::Key_Up:
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mCamera.zoom(2);
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break;
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case Qt::Key_Down:
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mCamera.zoom(-2);
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break;
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// add a frame
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case Qt::Key_G:
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grabFrame();
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break;
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// clear the time line
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case Qt::Key_C:
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m_timeline.clear();
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break;
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// move the camera to initial pos
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case Qt::Key_R:
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resetCamera();
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break;
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// start/stop the animation
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case Qt::Key_A:
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if (mAnimate)
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{
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stopAnimation();
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}
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else
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{
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m_alpha = 0;
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connect(&m_timer, SIGNAL(timeout()), this, SLOT(animate()));
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m_timer.start(1000/30);
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mAnimate = true;
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}
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break;
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default:
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break;
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}
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updateGL();
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}
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void RenderingWidget::stopAnimation()
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{
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disconnect(&m_timer, SIGNAL(timeout()), this, SLOT(animate()));
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m_timer.stop();
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mAnimate = false;
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m_alpha = 0;
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}
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void RenderingWidget::mousePressEvent(QMouseEvent* e)
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{
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mMouseCoords = Vector2i(e->pos().x(), e->pos().y());
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|
bool fly = (mNavMode==NavFly) || (e->modifiers()&Qt::ControlModifier);
|
||
|
|
switch(e->button())
|
||
|
|
{
|
||
|
|
case Qt::LeftButton:
|
||
|
|
if(fly)
|
||
|
|
{
|
||
|
|
mCurrentTrackingMode = TM_LOCAL_ROTATE;
|
||
|
|
mTrackball.start(Trackball::Local);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
mCurrentTrackingMode = TM_ROTATE_AROUND;
|
||
|
|
mTrackball.start(Trackball::Around);
|
||
|
|
}
|
||
|
|
mTrackball.track(mMouseCoords);
|
||
|
|
break;
|
||
|
|
case Qt::MidButton:
|
||
|
|
if(fly)
|
||
|
|
mCurrentTrackingMode = TM_FLY_Z;
|
||
|
|
else
|
||
|
|
mCurrentTrackingMode = TM_ZOOM;
|
||
|
|
break;
|
||
|
|
case Qt::RightButton:
|
||
|
|
mCurrentTrackingMode = TM_FLY_PAN;
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
void RenderingWidget::mouseReleaseEvent(QMouseEvent*)
|
||
|
|
{
|
||
|
|
mCurrentTrackingMode = TM_NO_TRACK;
|
||
|
|
updateGL();
|
||
|
|
}
|
||
|
|
|
||
|
|
void RenderingWidget::mouseMoveEvent(QMouseEvent* e)
|
||
|
|
{
|
||
|
|
// tracking
|
||
|
|
if(mCurrentTrackingMode != TM_NO_TRACK)
|
||
|
|
{
|
||
|
|
float dx = float(e->x() - mMouseCoords.x()) / float(mCamera.vpWidth());
|
||
|
|
float dy = - float(e->y() - mMouseCoords.y()) / float(mCamera.vpHeight());
|
||
|
|
|
||
|
|
// speedup the transformations
|
||
|
|
if(e->modifiers() & Qt::ShiftModifier)
|
||
|
|
{
|
||
|
|
dx *= 10.;
|
||
|
|
dy *= 10.;
|
||
|
|
}
|
||
|
|
|
||
|
|
switch(mCurrentTrackingMode)
|
||
|
|
{
|
||
|
|
case TM_ROTATE_AROUND:
|
||
|
|
case TM_LOCAL_ROTATE:
|
||
|
|
if (mRotationMode==RotationStable)
|
||
|
|
{
|
||
|
|
// use the stable trackball implementation mapping
|
||
|
|
// the 2D coordinates to 3D points on a sphere.
|
||
|
|
mTrackball.track(Vector2i(e->pos().x(), e->pos().y()));
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// standard approach mapping the x and y displacements as rotations
|
||
|
|
// around the camera's X and Y axes.
|
||
|
|
Quaternionf q = AngleAxisf( dx*M_PI, Vector3f::UnitY())
|
||
|
|
* AngleAxisf(-dy*M_PI, Vector3f::UnitX());
|
||
|
|
if (mCurrentTrackingMode==TM_LOCAL_ROTATE)
|
||
|
|
mCamera.localRotate(q);
|
||
|
|
else
|
||
|
|
mCamera.rotateAroundTarget(q);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case TM_ZOOM :
|
||
|
|
mCamera.zoom(dy*100);
|
||
|
|
break;
|
||
|
|
case TM_FLY_Z :
|
||
|
|
mCamera.localTranslate(Vector3f(0, 0, -dy*200));
|
||
|
|
break;
|
||
|
|
case TM_FLY_PAN :
|
||
|
|
mCamera.localTranslate(Vector3f(dx*200, dy*200, 0));
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
updateGL();
|
||
|
|
}
|
||
|
|
|
||
|
|
mMouseCoords = Vector2i(e->pos().x(), e->pos().y());
|
||
|
|
}
|
||
|
|
|
||
|
|
void RenderingWidget::paintGL()
|
||
|
|
{
|
||
|
|
glEnable(GL_DEPTH_TEST);
|
||
|
|
glDisable(GL_CULL_FACE);
|
||
|
|
glPolygonMode(GL_FRONT_AND_BACK,GL_FILL);
|
||
|
|
glDisable(GL_COLOR_MATERIAL);
|
||
|
|
glDisable(GL_BLEND);
|
||
|
|
glDisable(GL_ALPHA_TEST);
|
||
|
|
glDisable(GL_TEXTURE_1D);
|
||
|
|
glDisable(GL_TEXTURE_2D);
|
||
|
|
glDisable(GL_TEXTURE_3D);
|
||
|
|
|
||
|
|
// Clear buffers
|
||
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||
|
|
|
||
|
|
mCamera.activateGL();
|
||
|
|
|
||
|
|
drawScene();
|
||
|
|
}
|
||
|
|
|
||
|
|
void RenderingWidget::initializeGL()
|
||
|
|
{
|
||
|
|
glClearColor(1., 1., 1., 0.);
|
||
|
|
glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, 1);
|
||
|
|
glDepthMask(GL_TRUE);
|
||
|
|
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
|
||
|
|
|
||
|
|
mCamera.setPosition(Vector3f(-200, -200, -200));
|
||
|
|
mCamera.setTarget(Vector3f(0, 0, 0));
|
||
|
|
mInitFrame.orientation = mCamera.orientation().inverse();
|
||
|
|
mInitFrame.position = mCamera.viewMatrix().translation();
|
||
|
|
}
|
||
|
|
|
||
|
|
void RenderingWidget::resizeGL(int width, int height)
|
||
|
|
{
|
||
|
|
mCamera.setViewport(width,height);
|
||
|
|
}
|
||
|
|
|
||
|
|
void RenderingWidget::setNavMode(int m)
|
||
|
|
{
|
||
|
|
mNavMode = NavMode(m);
|
||
|
|
}
|
||
|
|
|
||
|
|
void RenderingWidget::setLerpMode(int m)
|
||
|
|
{
|
||
|
|
mLerpMode = LerpMode(m);
|
||
|
|
}
|
||
|
|
|
||
|
|
void RenderingWidget::setRotationMode(int m)
|
||
|
|
{
|
||
|
|
mRotationMode = RotationMode(m);
|
||
|
|
}
|
||
|
|
|
||
|
|
void RenderingWidget::resetCamera()
|
||
|
|
{
|
||
|
|
if (mAnimate)
|
||
|
|
stopAnimation();
|
||
|
|
m_timeline.clear();
|
||
|
|
Frame aux0 = mCamera.frame();
|
||
|
|
aux0.orientation = aux0.orientation.inverse();
|
||
|
|
aux0.position = mCamera.viewMatrix().translation();
|
||
|
|
m_timeline[0] = aux0;
|
||
|
|
|
||
|
|
Vector3f currentTarget = mCamera.target();
|
||
|
|
mCamera.setTarget(Vector3f::Zero());
|
||
|
|
|
||
|
|
// compute the rotation duration to move the camera to the target
|
||
|
|
Frame aux1 = mCamera.frame();
|
||
|
|
aux1.orientation = aux1.orientation.inverse();
|
||
|
|
aux1.position = mCamera.viewMatrix().translation();
|
||
|
|
float duration = aux0.orientation.angularDistance(aux1.orientation) * 0.9;
|
||
|
|
if (duration<0.1) duration = 0.1;
|
||
|
|
|
||
|
|
// put the camera at that time step:
|
||
|
|
aux1 = aux0.lerp(duration/2,mInitFrame);
|
||
|
|
// and make it look at the target again
|
||
|
|
aux1.orientation = aux1.orientation.inverse();
|
||
|
|
aux1.position = - (aux1.orientation * aux1.position);
|
||
|
|
mCamera.setFrame(aux1);
|
||
|
|
mCamera.setTarget(Vector3f::Zero());
|
||
|
|
|
||
|
|
// add this camera keyframe
|
||
|
|
aux1.orientation = aux1.orientation.inverse();
|
||
|
|
aux1.position = mCamera.viewMatrix().translation();
|
||
|
|
m_timeline[duration] = aux1;
|
||
|
|
|
||
|
|
m_timeline[2] = mInitFrame;
|
||
|
|
m_alpha = 0;
|
||
|
|
animate();
|
||
|
|
connect(&m_timer, SIGNAL(timeout()), this, SLOT(animate()));
|
||
|
|
m_timer.start(1000/30);
|
||
|
|
mAnimate = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
QWidget* RenderingWidget::createNavigationControlWidget()
|
||
|
|
{
|
||
|
|
QWidget* panel = new QWidget();
|
||
|
|
QVBoxLayout* layout = new QVBoxLayout();
|
||
|
|
|
||
|
|
{
|
||
|
|
QPushButton* but = new QPushButton("reset");
|
||
|
|
but->setToolTip("move the camera to initial position (with animation)");
|
||
|
|
layout->addWidget(but);
|
||
|
|
connect(but, SIGNAL(clicked()), this, SLOT(resetCamera()));
|
||
|
|
}
|
||
|
|
{
|
||
|
|
// navigation mode
|
||
|
|
QGroupBox* box = new QGroupBox("navigation mode");
|
||
|
|
QVBoxLayout* boxLayout = new QVBoxLayout;
|
||
|
|
QButtonGroup* group = new QButtonGroup(panel);
|
||
|
|
QRadioButton* but;
|
||
|
|
but = new QRadioButton("turn around");
|
||
|
|
but->setToolTip("look around an object");
|
||
|
|
group->addButton(but, NavTurnAround);
|
||
|
|
boxLayout->addWidget(but);
|
||
|
|
but = new QRadioButton("fly");
|
||
|
|
but->setToolTip("free navigation like a spaceship\n(this mode can also be enabled pressing the \"shift\" key)");
|
||
|
|
group->addButton(but, NavFly);
|
||
|
|
boxLayout->addWidget(but);
|
||
|
|
group->button(mNavMode)->setChecked(true);
|
||
|
|
connect(group, SIGNAL(buttonClicked(int)), this, SLOT(setNavMode(int)));
|
||
|
|
box->setLayout(boxLayout);
|
||
|
|
layout->addWidget(box);
|
||
|
|
}
|
||
|
|
{
|
||
|
|
// track ball, rotation mode
|
||
|
|
QGroupBox* box = new QGroupBox("rotation mode");
|
||
|
|
QVBoxLayout* boxLayout = new QVBoxLayout;
|
||
|
|
QButtonGroup* group = new QButtonGroup(panel);
|
||
|
|
QRadioButton* but;
|
||
|
|
but = new QRadioButton("stable trackball");
|
||
|
|
group->addButton(but, RotationStable);
|
||
|
|
boxLayout->addWidget(but);
|
||
|
|
but->setToolTip("use the stable trackball implementation mapping\nthe 2D coordinates to 3D points on a sphere");
|
||
|
|
but = new QRadioButton("standard rotation");
|
||
|
|
group->addButton(but, RotationStandard);
|
||
|
|
boxLayout->addWidget(but);
|
||
|
|
but->setToolTip("standard approach mapping the x and y displacements\nas rotations around the camera's X and Y axes");
|
||
|
|
group->button(mRotationMode)->setChecked(true);
|
||
|
|
connect(group, SIGNAL(buttonClicked(int)), this, SLOT(setRotationMode(int)));
|
||
|
|
box->setLayout(boxLayout);
|
||
|
|
layout->addWidget(box);
|
||
|
|
}
|
||
|
|
{
|
||
|
|
// interpolation mode
|
||
|
|
QGroupBox* box = new QGroupBox("spherical interpolation");
|
||
|
|
QVBoxLayout* boxLayout = new QVBoxLayout;
|
||
|
|
QButtonGroup* group = new QButtonGroup(panel);
|
||
|
|
QRadioButton* but;
|
||
|
|
but = new QRadioButton("quaternion slerp");
|
||
|
|
group->addButton(but, LerpQuaternion);
|
||
|
|
boxLayout->addWidget(but);
|
||
|
|
but->setToolTip("use quaternion spherical interpolation\nto interpolate orientations");
|
||
|
|
but = new QRadioButton("euler angles");
|
||
|
|
group->addButton(but, LerpEulerAngles);
|
||
|
|
boxLayout->addWidget(but);
|
||
|
|
but->setToolTip("use Euler angles to interpolate orientations");
|
||
|
|
group->button(mNavMode)->setChecked(true);
|
||
|
|
connect(group, SIGNAL(buttonClicked(int)), this, SLOT(setLerpMode(int)));
|
||
|
|
box->setLayout(boxLayout);
|
||
|
|
layout->addWidget(box);
|
||
|
|
}
|
||
|
|
layout->addItem(new QSpacerItem(0,0,QSizePolicy::Minimum,QSizePolicy::Expanding));
|
||
|
|
panel->setLayout(layout);
|
||
|
|
return panel;
|
||
|
|
}
|
||
|
|
|
||
|
|
QuaternionDemo::QuaternionDemo()
|
||
|
|
{
|
||
|
|
mRenderingWidget = new RenderingWidget();
|
||
|
|
setCentralWidget(mRenderingWidget);
|
||
|
|
|
||
|
|
QDockWidget* panel = new QDockWidget("navigation", this);
|
||
|
|
panel->setAllowedAreas((QFlags<Qt::DockWidgetArea>)(Qt::RightDockWidgetArea | Qt::LeftDockWidgetArea));
|
||
|
|
addDockWidget(Qt::RightDockWidgetArea, panel);
|
||
|
|
panel->setWidget(mRenderingWidget->createNavigationControlWidget());
|
||
|
|
}
|
||
|
|
|
||
|
|
int main(int argc, char *argv[])
|
||
|
|
{
|
||
|
|
std::cout << "Navigation:\n";
|
||
|
|
std::cout << " left button: rotate around the target\n";
|
||
|
|
std::cout << " middle button: zoom\n";
|
||
|
|
std::cout << " left button + ctrl quake rotate (rotate around camera position)\n";
|
||
|
|
std::cout << " middle button + ctrl walk (progress along camera's z direction)\n";
|
||
|
|
std::cout << " left button: pan (translate in the XY camera's plane)\n\n";
|
||
|
|
std::cout << "R : move the camera to initial position\n";
|
||
|
|
std::cout << "A : start/stop animation\n";
|
||
|
|
std::cout << "C : clear the animation\n";
|
||
|
|
std::cout << "G : add a key frame\n";
|
||
|
|
|
||
|
|
QApplication app(argc, argv);
|
||
|
|
QuaternionDemo demo;
|
||
|
|
demo.resize(600,500);
|
||
|
|
demo.show();
|
||
|
|
return app.exec();
|
||
|
|
}
|
||
|
|
|
||
|
|
#include "quaternion_demo.moc"
|
||
|
|
|