LOG750-LAB2/QGLViewer/manipulatedFrame.cpp

/****************************************************************************

 Copyright (C) 2002-2014 Gilles Debunne. All rights reserved.

 This file is part of the QGLViewer library version 2.6.3.

 http://www.libqglviewer.com - contact@libqglviewer.com

 This file may be used under the terms of the GNU General Public License 
 versions 2.0 or 3.0 as published by the Free Software Foundation and
 appearing in the LICENSE file included in the packaging of this file.
 In addition, as a special exception, Gilles Debunne gives you certain 
 additional rights, described in the file GPL_EXCEPTION in this package.

 libQGLViewer uses dual licensing. Commercial/proprietary software must
 purchase a libQGLViewer Commercial License.

 This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.

*****************************************************************************/

#include "domUtils.h"
#include "manipulatedFrame.h"
#include "manipulatedCameraFrame.h"
#include "qglviewer.h"
#include "camera.h"

#include <cstdlib>

#include <QMouseEvent>

using namespace qglviewer;
using namespace std;

/*! Default constructor.

  The translation is set to (0,0,0), with an identity rotation (0,0,0,1) (see Frame constructor
  for details).

  The different sensitivities are set to their default values (see rotationSensitivity(),
  translationSensitivity(), spinningSensitivity() and wheelSensitivity()). */
ManipulatedFrame::ManipulatedFrame()
	: action_(QGLViewer::NO_MOUSE_ACTION), keepsGrabbingMouse_(false)
{
	// #CONNECTION# initFromDOMElement and accessor docs
	setRotationSensitivity(1.0);
	setTranslationSensitivity(1.0);
	setSpinningSensitivity(0.3);
	setWheelSensitivity(1.0);
	setZoomSensitivity(1.0);

	isSpinning_ = false;
	previousConstraint_ = NULL;

	connect(&spinningTimer_, SIGNAL(timeout()), SLOT(spinUpdate()));
}

/*! Equal operator. Calls Frame::operator=() and then copy attributes. */
ManipulatedFrame& ManipulatedFrame::operator=(const ManipulatedFrame& mf)
{
	Frame::operator=(mf);

	setRotationSensitivity(mf.rotationSensitivity());
	setTranslationSensitivity(mf.translationSensitivity());
	setSpinningSensitivity(mf.spinningSensitivity());
	setWheelSensitivity(mf.wheelSensitivity());
	setZoomSensitivity(mf.zoomSensitivity());

	mouseSpeed_ = 0.0;
	dirIsFixed_ = false;
	keepsGrabbingMouse_ = false;
	action_ = QGLViewer::NO_MOUSE_ACTION;

	return *this;
}

/*! Copy constructor. Performs a deep copy of all attributes using operator=(). */
ManipulatedFrame::ManipulatedFrame(const ManipulatedFrame& mf)
	: Frame(mf), MouseGrabber()
{
	(*this)=mf;
}

////////////////////////////////////////////////////////////////////////////////

/*! Implementation of the MouseGrabber main method.

The ManipulatedFrame grabsMouse() when the mouse is within a 10 pixels region around its
Camera::projectedCoordinatesOf() position().

See the <a href="../examples/mouseGrabber.html">mouseGrabber example</a> for an illustration. */
void ManipulatedFrame::checkIfGrabsMouse(int x, int y, const Camera* const camera)
{
	const int thresold = 10;
	const Vec proj = camera->projectedCoordinatesOf(position());
	setGrabsMouse(keepsGrabbingMouse_ || ((fabs(x-proj.x) < thresold) && (fabs(y-proj.y) < thresold)));
}

////////////////////////////////////////////////////////////////////////////////
//          S t a t e   s a v i n g   a n d   r e s t o r i n g               //
////////////////////////////////////////////////////////////////////////////////

/*! Returns an XML \c QDomElement that represents the ManipulatedFrame.

 Adds to the Frame::domElement() the ManipulatedFrame specific informations in a \c
 ManipulatedParameters child QDomElement.

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

 Use initFromDOMElement() to restore the ManipulatedFrame state from the resulting \c QDomElement.

 See Vec::domElement() for a complete example. See also Quaternion::domElement(),
 Camera::domElement()... */
QDomElement ManipulatedFrame::domElement(const QString& name, QDomDocument& document) const
{
	QDomElement e = Frame::domElement(name, document);
	QDomElement mp = document.createElement("ManipulatedParameters");
	mp.setAttribute("rotSens", QString::number(rotationSensitivity()));
	mp.setAttribute("transSens", QString::number(translationSensitivity()));
	mp.setAttribute("spinSens", QString::number(spinningSensitivity()));
	mp.setAttribute("wheelSens", QString::number(wheelSensitivity()));
	mp.setAttribute("zoomSens", QString::number(zoomSensitivity()));
	e.appendChild(mp);
	return e;
}

/*! Restores the ManipulatedFrame state from a \c QDomElement created by domElement().

Fields that are not described in \p element are set to their default values (see
ManipulatedFrame()).

First calls Frame::initFromDOMElement() and then initializes ManipulatedFrame specific parameters.
Note that constraint() and referenceFrame() are not restored and are left unchanged.

See Vec::initFromDOMElement() for a complete code example. */
void ManipulatedFrame::initFromDOMElement(const QDomElement& element)
{
	// Not called since it would set constraint() and referenceFrame() to NULL.
	// *this = ManipulatedFrame();
	Frame::initFromDOMElement(element);

	stopSpinning();

	QDomElement child=element.firstChild().toElement();
	while (!child.isNull())
	{
		if (child.tagName() == "ManipulatedParameters")
		{
			// #CONNECTION# constructor default values and accessor docs
			setRotationSensitivity   (DomUtils::qrealFromDom(child, "rotSens",   1.0));
			setTranslationSensitivity(DomUtils::qrealFromDom(child, "transSens", 1.0));
			setSpinningSensitivity   (DomUtils::qrealFromDom(child, "spinSens",  0.3));
			setWheelSensitivity      (DomUtils::qrealFromDom(child, "wheelSens", 1.0));
			setZoomSensitivity       (DomUtils::qrealFromDom(child, "zoomSens", 1.0));
		}
		child = child.nextSibling().toElement();
	}
}


////////////////////////////////////////////////////////////////////////////////
//                 M o u s e    h a n d l i n g                               //
////////////////////////////////////////////////////////////////////////////////

/*! Returns \c true when the ManipulatedFrame is being manipulated with the mouse.

  Can be used to change the display of the manipulated object during manipulation.

  When Camera::frame() of the QGLViewer::camera() isManipulated(), QGLViewer::fastDraw() is used in
  place of QGLViewer::draw() for scene rendering. A simplified drawing will then allow for
  interactive camera displacements.  */
bool ManipulatedFrame::isManipulated() const
{
	return action_ != QGLViewer::NO_MOUSE_ACTION;
}

/*! Starts the spinning of the ManipulatedFrame.

This method starts a timer that will call spin() every \p updateInterval milliseconds. The
ManipulatedFrame isSpinning() until you call stopSpinning(). */
void ManipulatedFrame::startSpinning(int updateInterval)
{
	isSpinning_ = true;
	spinningTimer_.start(updateInterval);
}

/*! Rotates the ManipulatedFrame by its spinningQuaternion(). Called by a timer when the
  ManipulatedFrame isSpinning(). */
void ManipulatedFrame::spin()
{
	rotate(spinningQuaternion());
}

/* spin() and spinUpdate() differ since spin can be used by itself (for instance by
   QGLViewer::SCREEN_ROTATE) without a spun emission. Much nicer to use the spinningQuaternion() and
   hence spin() for these incremental updates. Nothing special to be done for continuous spinning
   with this design. */
void ManipulatedFrame::spinUpdate()
{
	spin();
	Q_EMIT spun();
}

#ifndef DOXYGEN
/*! Protected internal method used to handle mouse events. */
void ManipulatedFrame::startAction(int ma, bool withConstraint)
{
	action_ = (QGLViewer::MouseAction)(ma);

	// #CONNECTION# manipulatedFrame::wheelEvent, manipulatedCameraFrame::wheelEvent and mouseReleaseEvent()
	// restore previous constraint
	if (withConstraint)
		previousConstraint_ = NULL;
	else
	{
		previousConstraint_ = constraint();
		setConstraint(NULL);
	}

	switch (action_)
	{
		case QGLViewer::ROTATE:
		case QGLViewer::SCREEN_ROTATE:
			mouseSpeed_ = 0.0;
			stopSpinning();
			break;

		case QGLViewer::SCREEN_TRANSLATE:
			dirIsFixed_ = false;
			break;

		default:
			break;
	}
}

/*! Updates mouse speed, measured in pixels/milliseconds. Should be called by any method which wants to
use mouse speed. Currently used to trigger spinning in mouseReleaseEvent(). */
void ManipulatedFrame::computeMouseSpeed(const QMouseEvent* const e)
{
	const QPoint delta = (e->pos() - prevPos_);
	const qreal dist = sqrt(qreal(delta.x()*delta.x() + delta.y()*delta.y()));
	delay_ = last_move_time.restart();
	if (delay_ == 0)
		// Less than a millisecond: assume delay = 1ms
		mouseSpeed_ = dist;
	else
		mouseSpeed_ = dist/delay_;
}

/*! Return 1 if mouse motion was started horizontally and -1 if it was more vertical. Returns 0 if
this could not be determined yet (perfect diagonal motion, rare). */
int ManipulatedFrame::mouseOriginalDirection(const QMouseEvent* const e)
{
	static bool horiz = true; // Two simultaneous manipulatedFrame require two mice !

	if (!dirIsFixed_)
	{
		const QPoint delta = e->pos() - pressPos_;
		dirIsFixed_ = abs(delta.x()) != abs(delta.y());
		horiz = abs(delta.x()) > abs(delta.y());
	}

	if (dirIsFixed_)
		if (horiz)
			return 1;
		else
			return -1;
	else
		return 0;
}

qreal ManipulatedFrame::deltaWithPrevPos(QMouseEvent* const event, Camera* const camera) const {
	qreal dx = qreal(event->x() - prevPos_.x()) / camera->screenWidth();
	qreal dy = qreal(event->y() - prevPos_.y()) / camera->screenHeight();

	qreal value = fabs(dx) > fabs(dy) ? dx : dy;
	return value * zoomSensitivity();
}

qreal ManipulatedFrame::wheelDelta(const QWheelEvent* event) const {
	static const qreal WHEEL_SENSITIVITY_COEF = 8E-4;
	return event->delta() * wheelSensitivity() * WHEEL_SENSITIVITY_COEF;
}

void ManipulatedFrame::zoom(qreal delta, const Camera * const camera) {
	Vec trans(0.0, 0.0, (camera->position() - position()).norm() * delta);

	trans = camera->frame()->orientation().rotate(trans);
	if (referenceFrame())
		trans = referenceFrame()->transformOf(trans);
	translate(trans);
}

#endif // DOXYGEN

/*! Initiates the ManipulatedFrame mouse manipulation.

Overloading of MouseGrabber::mousePressEvent(). See also mouseMoveEvent() and mouseReleaseEvent().

The mouse behavior depends on which button is pressed. See the <a href="../mouse.html">QGLViewer
mouse page</a> for details. */
void ManipulatedFrame::mousePressEvent(QMouseEvent* const event, Camera* const camera)
{
	Q_UNUSED(camera);

	if (grabsMouse())
		keepsGrabbingMouse_ = true;

	// #CONNECTION setMouseBinding
	// action_ should no longer possibly be NO_MOUSE_ACTION since this value is not inserted in mouseBinding_
	//if (action_ == QGLViewer::NO_MOUSE_ACTION)
	//event->ignore();

	prevPos_ = pressPos_ = event->pos();
}

/*! Modifies the ManipulatedFrame according to the mouse motion.

Actual behavior depends on mouse bindings. See the QGLViewer::MouseAction enum and the <a
href="../mouse.html">QGLViewer mouse page</a> for details.

The \p camera is used to fit the mouse motion with the display parameters (see
Camera::screenWidth(), Camera::screenHeight(), Camera::fieldOfView()).

Emits the manipulated() signal. */
void ManipulatedFrame::mouseMoveEvent(QMouseEvent* const event, Camera* const camera)
{
	switch (action_)
	{
		case QGLViewer::TRANSLATE:
		{
			const QPoint delta = event->pos() - prevPos_;
			Vec trans(delta.x(), -delta.y(), 0.0);
			// Scale to fit the screen mouse displacement
			switch (camera->type())
			{
				case Camera::PERSPECTIVE :
					trans *= 2.0 * tan(camera->fieldOfView()/2.0) * fabs((camera->frame()->coordinatesOf(position())).z) / camera->screenHeight();
					break;
				case Camera::ORTHOGRAPHIC :
				{
					GLdouble w,h;
					camera->getOrthoWidthHeight(w, h);
					trans[0] *= 2.0 * w / camera->screenWidth();
					trans[1] *= 2.0 * h / camera->screenHeight();
					break;
				}
			}
			// Transform to world coordinate system.
			trans = camera->frame()->orientation().rotate(translationSensitivity()*trans);
			// And then down to frame
			if (referenceFrame()) trans = referenceFrame()->transformOf(trans);
			translate(trans);
			break;
		}

		case QGLViewer::ZOOM:
		{
			zoom(deltaWithPrevPos(event, camera), camera);
			break;
		}

		case QGLViewer::SCREEN_ROTATE:
		{
			Vec trans = camera->projectedCoordinatesOf(position());

			const qreal prev_angle = atan2(prevPos_.y()-trans[1], prevPos_.x()-trans[0]);
			const qreal      angle = atan2(event->y()-trans[1], event->x()-trans[0]);

			const Vec axis = transformOf(camera->frame()->inverseTransformOf(Vec(0.0, 0.0, -1.0)));
			Quaternion rot(axis, angle-prev_angle);
			//#CONNECTION# These two methods should go together (spinning detection and activation)
			computeMouseSpeed(event);
			setSpinningQuaternion(rot);
			spin();
			break;
		}

		case QGLViewer::SCREEN_TRANSLATE:
		{
			Vec trans;
			int dir = mouseOriginalDirection(event);
			if (dir == 1)
				trans.setValue(event->x() - prevPos_.x(), 0.0, 0.0);
			else if (dir == -1)
				trans.setValue(0.0, prevPos_.y() - event->y(), 0.0);

			switch (camera->type())
			{
				case Camera::PERSPECTIVE :
					trans *= 2.0 * tan(camera->fieldOfView()/2.0) * fabs((camera->frame()->coordinatesOf(position())).z) / camera->screenHeight();
					break;
				case Camera::ORTHOGRAPHIC :
				{
					GLdouble w,h;
					camera->getOrthoWidthHeight(w, h);
					trans[0] *= 2.0 * w / camera->screenWidth();
					trans[1] *= 2.0 * h / camera->screenHeight();
					break;
				}
			}
			// Transform to world coordinate system.
			trans = camera->frame()->orientation().rotate(translationSensitivity()*trans);
			// And then down to frame
			if (referenceFrame())
				trans = referenceFrame()->transformOf(trans);

			translate(trans);
			break;
		}

		case QGLViewer::ROTATE:
		{
			Vec trans = camera->projectedCoordinatesOf(position());
			Quaternion rot = deformedBallQuaternion(event->x(), event->y(), trans[0], trans[1], camera);
			trans = Vec(-rot[0], -rot[1], -rot[2]);
			trans = camera->frame()->orientation().rotate(trans);
			trans = transformOf(trans);
			rot[0] = trans[0];
			rot[1] = trans[1];
			rot[2] = trans[2];
			//#CONNECTION# These two methods should go together (spinning detection and activation)
			computeMouseSpeed(event);
			setSpinningQuaternion(rot);
			spin();
			break;
		}

		case QGLViewer::MOVE_FORWARD:
		case QGLViewer::MOVE_BACKWARD:
		case QGLViewer::LOOK_AROUND:
		case QGLViewer::ROLL:
		case QGLViewer::DRIVE:
		case QGLViewer::ZOOM_ON_REGION:
			// These MouseAction values make no sense for a manipulatedFrame
			break;

		case QGLViewer::NO_MOUSE_ACTION:
			// Possible when the ManipulatedFrame is a MouseGrabber. This method is then called without startAction
			// because of mouseTracking.
			break;
	}

	if (action_ != QGLViewer::NO_MOUSE_ACTION)
	{
		prevPos_ = event->pos();
		Q_EMIT manipulated();
	}
}

/*! Stops the ManipulatedFrame mouse manipulation.

Overloading of MouseGrabber::mouseReleaseEvent().

If the action was a QGLViewer::ROTATE QGLViewer::MouseAction, a continuous spinning is possible if
the speed of the mouse cursor is larger than spinningSensitivity() when the button is released.
Press the rotate button again to stop spinning. See startSpinning() and isSpinning(). */
void ManipulatedFrame::mouseReleaseEvent(QMouseEvent* const event, Camera* const camera)
{
	Q_UNUSED(event);
	Q_UNUSED(camera);

	keepsGrabbingMouse_ = false;

	if (previousConstraint_)
		setConstraint(previousConstraint_);

	if (((action_ == QGLViewer::ROTATE) || (action_ == QGLViewer::SCREEN_ROTATE)) && (mouseSpeed_ >= spinningSensitivity()))
		startSpinning(delay_);

	action_ = QGLViewer::NO_MOUSE_ACTION;
}

/*! Overloading of MouseGrabber::mouseDoubleClickEvent().

Left button double click aligns the ManipulatedFrame with the \p camera axis (see alignWithFrame()
 and QGLViewer::ALIGN_FRAME). Right button projects the ManipulatedFrame on the \p camera view
 direction. */
void ManipulatedFrame::mouseDoubleClickEvent(QMouseEvent* const event, Camera* const camera)
{
	if (event->modifiers() == Qt::NoModifier)
		switch (event->button())
		{
			case Qt::LeftButton:  alignWithFrame(camera->frame()); break;
			case Qt::RightButton: projectOnLine(camera->position(), camera->viewDirection()); break;
			default: break;
		}
}

/*! Overloading of MouseGrabber::wheelEvent().

Using the wheel is equivalent to a QGLViewer::ZOOM QGLViewer::MouseAction. See
 QGLViewer::setWheelBinding(), setWheelSensitivity(). */
void ManipulatedFrame::wheelEvent(QWheelEvent* const event, Camera* const camera)
{
	//#CONNECTION# QGLViewer::setWheelBinding
	if (action_ == QGLViewer::ZOOM)
	{
		zoom(wheelDelta(event), camera);
		Q_EMIT manipulated();
	}

	// #CONNECTION# startAction should always be called before
	if (previousConstraint_)
		setConstraint(previousConstraint_);

	action_ = QGLViewer::NO_MOUSE_ACTION;
}


////////////////////////////////////////////////////////////////////////////////

/*! Returns "pseudo-distance" from (x,y) to ball of radius size.
\arg for a point inside the ball, it is proportional to the euclidean distance to the ball
\arg for a point outside the ball, it is proportional to the inverse of this distance (tends to
zero) on the ball, the function is continuous. */
static qreal projectOnBall(qreal x, qreal y)
{
	// If you change the size value, change angle computation in deformedBallQuaternion().
	const qreal size       = 1.0;
	const qreal size2      = size*size;
	const qreal size_limit = size2*0.5;

	const qreal d = x*x + y*y;
	return d < size_limit ? sqrt(size2 - d) : size_limit/sqrt(d);
}

#ifndef DOXYGEN
/*! Returns a quaternion computed according to the mouse motion. Mouse positions are projected on a
deformed ball, centered on (\p cx,\p cy). */
Quaternion ManipulatedFrame::deformedBallQuaternion(int x, int y, qreal cx, qreal cy, const Camera* const camera)
{
	// Points on the deformed ball
	qreal px = rotationSensitivity() * (prevPos_.x()  - cx) / camera->screenWidth();
	qreal py = rotationSensitivity() * (cy - prevPos_.y())  / camera->screenHeight();
	qreal dx = rotationSensitivity() * (x - cx)	    / camera->screenWidth();
	qreal dy = rotationSensitivity() * (cy - y)	    / camera->screenHeight();

	const Vec p1(px, py, projectOnBall(px, py));
	const Vec p2(dx, dy, projectOnBall(dx, dy));
	// Approximation of rotation angle
	// Should be divided by the projectOnBall size, but it is 1.0
	const Vec axis = cross(p2,p1);
	const qreal angle = 5.0 * asin(sqrt(axis.squaredNorm() / p1.squaredNorm() / p2.squaredNorm()));
	return Quaternion(axis, angle);
}
#endif // DOXYGEN