constraint.h

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

 This file is part of the QGLViewer library
 Copyright (C) 2002-2004  Gilles Debunne (Gilles.Debunne@imag.fr)
 Version 1.3.5 Release 8. Packaged on Monday December 22, 2003.

 http://www-imagis.imag.fr/Membres/Gilles.Debunne/CODE/QGLViewer

 libQGLViewer is free software; you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation; either version 2 of the License, or
 (at your option) any later version.

 libQGLViewer is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with libQGLViewer; if not, write to the Free Software
 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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

#ifndef QGLVIEWER_CONSTRAINT_H
#define QGLVIEWER_CONSTRAINT_H

#include "vec.h"
#include "quaternion.h"

namespace qglviewer {
  class Frame;
  class Camera;

  class QGLVIEWER_EXPORT Constraint
  {
  public:
    virtual ~Constraint() {};

    virtual void constrainTranslation(Vec&, Frame* const) {};

    virtual void constrainRotation(Quaternion& , Frame* const) {};
  };

  class QGLVIEWER_EXPORT AxisPlaneConstraint : public Constraint
  {
  public:
    AxisPlaneConstraint();
    virtual ~AxisPlaneConstraint() {};

    enum Type { FREE, PLANE, AXIS, FORBIDDEN };

    virtual void constrainTranslation(Vec&, Frame* const)=0;
    
    void setTranslationConstraint(const Type t, const Vec& dir);
    void setTranslationConstraint(const Type t, const float x, const float y, const float z);
    void setTranslationConstraintType(const Type t) { translationConstraint_ = t; };
    void setTranslationConstraintDir(const Vec& dir);
  
    Type translationConstraintType() const { return translationConstraint_; };
 
    void getTranslationConstraintDir(float& x, float& y, float& z) const;

    Vec translationConstraintDir() const { return translationConstraintDir_; };
    
    virtual void constrainRotation(Quaternion& , Frame* const)=0;
      
    void setRotationConstraint(const Type t, const Vec& dir);
    void setRotationConstraint(const Type t, const float x, const float y, const float z);
    void setRotationConstraintType(const Type t);
    void setRotationConstraintDir(const Vec& dir);

    Type rotationConstraintType() const { return rotationConstraint_; };

    void getRotationConstraintDir(float& x, float& y, float& z) const;
    Vec rotationConstraintDir() const { return rotationConstraintDir_; };
  
  private:
    Type translationConstraint_;
    Type rotationConstraint_;

    Vec translationConstraintDir_;
    Vec rotationConstraintDir_;
  };

  
  class QGLVIEWER_EXPORT LocalConstraint : public AxisPlaneConstraint
  {
  public:
    virtual ~LocalConstraint() {};

    virtual void constrainTranslation(Vec&        , Frame* const);
    virtual void constrainRotation   (Quaternion& , Frame* const);
  };


  
  class QGLVIEWER_EXPORT WorldConstraint : public AxisPlaneConstraint
  {
  public:
    virtual ~WorldConstraint() {};

    virtual void constrainTranslation(Vec&        , Frame* const);
    virtual void constrainRotation   (Quaternion& , Frame* const);
  };

  
  class QGLVIEWER_EXPORT CameraConstraint : public AxisPlaneConstraint
  {
  public:
    explicit CameraConstraint(const Camera* const cam);
    virtual ~CameraConstraint() {};

    virtual void constrainTranslation(Vec&        , Frame* const);
    virtual void constrainRotation   (Quaternion& , Frame* const);

    const Camera* camera() const { return camera_; };
    
  private:
    const Camera* const camera_;
  };
 
} // namespace qglviewer

#endif // QGLVIEWER_CONSTRAINT_H

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