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-rw-r--r--demos/opengl/quaternion_demo.cpp656
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diff --git a/demos/opengl/quaternion_demo.cpp b/demos/opengl/quaternion_demo.cpp
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index 000000000..04165619b
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+++ b/demos/opengl/quaternion_demo.cpp
@@ -0,0 +1,656 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "quaternion_demo.h"
+#include "icosphere.h"
+
+#include <Eigen/Geometry>
+#include <Eigen/QR>
+#include <Eigen/LU>
+
+#include <iostream>
+#include <QEvent>
+#include <QMouseEvent>
+#include <QInputDialog>
+#include <QGridLayout>
+#include <QButtonGroup>
+#include <QRadioButton>
+#include <QDockWidget>
+#include <QPushButton>
+#include <QGroupBox>
+
+using namespace Eigen;
+
+class FancySpheres
+{
+ public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ FancySpheres()
+ {
+ const int levels = 4;
+ const float scale = 0.33;
+ float radius = 100;
+ std::vector<int> parents;
+
+ // leval 0
+ mCenters.push_back(Vector3f::Zero());
+ parents.push_back(-1);
+ mRadii.push_back(radius);
+
+ // generate level 1 using icosphere vertices
+ radius *= 0.45;
+ {
+ float dist = mRadii[0]*0.9;
+ for (int i=0; i<12; ++i)
+ {
+ mCenters.push_back(mIcoSphere.vertices()[i] * dist);
+ mRadii.push_back(radius);
+ parents.push_back(0);
+ }
+ }
+
+ static const float angles [10] = {
+ 0, 0,
+ M_PI, 0.*M_PI,
+ M_PI, 0.5*M_PI,
+ M_PI, 1.*M_PI,
+ M_PI, 1.5*M_PI
+ };
+
+ // generate other levels
+ int start = 1;
+ for (int l=1; l<levels; l++)
+ {
+ radius *= scale;
+ int end = mCenters.size();
+ for (int i=start; i<end; ++i)
+ {
+ Vector3f c = mCenters[i];
+ Vector3f ax0 = (c - mCenters[parents[i]]).normalized();
+ Vector3f ax1 = ax0.unitOrthogonal();
+ Quaternionf q;
+ q.setFromTwoVectors(Vector3f::UnitZ(), ax0);
+ Affine3f t = Translation3f(c) * q * Scaling(mRadii[i]+radius);
+ for (int j=0; j<5; ++j)
+ {
+ Vector3f newC = c + ( (AngleAxisf(angles[j*2+1], ax0)
+ * AngleAxisf(angles[j*2+0] * (l==1 ? 0.35 : 0.5), ax1)) * ax0)
+ * (mRadii[i] + radius*0.8);
+ mCenters.push_back(newC);
+ mRadii.push_back(radius);
+ parents.push_back(i);
+ }
+ }
+ start = end;
+ }
+ }
+
+ void draw()
+ {
+ int end = mCenters.size();
+ glEnable(GL_NORMALIZE);
+ for (int i=0; i<end; ++i)
+ {
+ Affine3f t = Translation3f(mCenters[i]) * Scaling(mRadii[i]);
+ gpu.pushMatrix(GL_MODELVIEW);
+ gpu.multMatrix(t.matrix(),GL_MODELVIEW);
+ mIcoSphere.draw(2);
+ gpu.popMatrix(GL_MODELVIEW);
+ }
+ glDisable(GL_NORMALIZE);
+ }
+ protected:
+ std::vector<Vector3f> mCenters;
+ std::vector<float> mRadii;
+ IcoSphere mIcoSphere;
+};
+
+
+// generic linear interpolation method
+template<typename T> T lerp(float t, const T& a, const T& b)
+{
+ return a*(1-t) + b*t;
+}
+
+// quaternion slerp
+template<> Quaternionf lerp(float t, const Quaternionf& a, const Quaternionf& b)
+{ return a.slerp(t,b); }
+
+// linear interpolation of a frame using the type OrientationType
+// to perform the interpolation of the orientations
+template<typename OrientationType>
+inline static Frame lerpFrame(float alpha, const Frame& a, const Frame& b)
+{
+ return Frame(lerp(alpha,a.position,b.position),
+ Quaternionf(lerp(alpha,OrientationType(a.orientation),OrientationType(b.orientation))));
+}
+
+template<typename _Scalar> class EulerAngles
+{
+public:
+ enum { Dim = 3 };
+ typedef _Scalar Scalar;
+ typedef Matrix<Scalar,3,3> Matrix3;
+ typedef Matrix<Scalar,3,1> Vector3;
+ typedef Quaternion<Scalar> QuaternionType;
+
+protected:
+
+ Vector3 m_angles;
+
+public:
+
+ EulerAngles() {}
+ inline EulerAngles(Scalar a0, Scalar a1, Scalar a2) : m_angles(a0, a1, a2) {}
+ inline EulerAngles(const QuaternionType& q) { *this = q; }
+
+ const Vector3& coeffs() const { return m_angles; }
+ Vector3& coeffs() { return m_angles; }
+
+ EulerAngles& operator=(const QuaternionType& q)
+ {
+ Matrix3 m = q.toRotationMatrix();
+ return *this = m;
+ }
+
+ EulerAngles& operator=(const Matrix3& m)
+ {
+ // mat = cy*cz -cy*sz sy
+ // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx
+ // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy
+ m_angles.coeffRef(1) = std::asin(m.coeff(0,2));
+ m_angles.coeffRef(0) = std::atan2(-m.coeff(1,2),m.coeff(2,2));
+ m_angles.coeffRef(2) = std::atan2(-m.coeff(0,1),m.coeff(0,0));
+ return *this;
+ }
+
+ Matrix3 toRotationMatrix(void) const
+ {
+ Vector3 c = m_angles.array().cos();
+ Vector3 s = m_angles.array().sin();
+ Matrix3 res;
+ res << c.y()*c.z(), -c.y()*s.z(), s.y(),
+ c.z()*s.x()*s.y()+c.x()*s.z(), c.x()*c.z()-s.x()*s.y()*s.z(), -c.y()*s.x(),
+ -c.x()*c.z()*s.y()+s.x()*s.z(), c.z()*s.x()+c.x()*s.y()*s.z(), c.x()*c.y();
+ return res;
+ }
+
+ operator QuaternionType() { return QuaternionType(toRotationMatrix()); }
+};
+
+// Euler angles slerp
+template<> EulerAngles<float> lerp(float t, const EulerAngles<float>& a, const EulerAngles<float>& b)
+{
+ EulerAngles<float> res;
+ res.coeffs() = lerp(t, a.coeffs(), b.coeffs());
+ return res;
+}
+
+
+RenderingWidget::RenderingWidget()
+{
+ mAnimate = false;
+ mCurrentTrackingMode = TM_NO_TRACK;
+ mNavMode = NavTurnAround;
+ mLerpMode = LerpQuaternion;
+ mRotationMode = RotationStable;
+ mTrackball.setCamera(&mCamera);
+
+ // required to capture key press events
+ setFocusPolicy(Qt::ClickFocus);
+}
+
+void RenderingWidget::grabFrame(void)
+{
+ // ask user for a time
+ bool ok = false;
+ double t = 0;
+ if (!m_timeline.empty())
+ t = (--m_timeline.end())->first + 1.;
+ t = QInputDialog::getDouble(this, "Eigen's RenderingWidget", "time value: ",
+ t, 0, 1e3, 1, &ok);
+ if (ok)
+ {
+ Frame aux;
+ aux.orientation = mCamera.viewMatrix().linear();
+ aux.position = mCamera.viewMatrix().translation();
+ m_timeline[t] = aux;
+ }
+}
+
+void RenderingWidget::drawScene()
+{
+ static FancySpheres sFancySpheres;
+ float length = 50;
+ gpu.drawVector(Vector3f::Zero(), length*Vector3f::UnitX(), Color(1,0,0,1));
+ gpu.drawVector(Vector3f::Zero(), length*Vector3f::UnitY(), Color(0,1,0,1));
+ gpu.drawVector(Vector3f::Zero(), length*Vector3f::UnitZ(), Color(0,0,1,1));
+
+ // draw the fractal object
+ float sqrt3 = internal::sqrt(3.);
+ glLightfv(GL_LIGHT0, GL_AMBIENT, Vector4f(0.5,0.5,0.5,1).data());
+ glLightfv(GL_LIGHT0, GL_DIFFUSE, Vector4f(0.5,1,0.5,1).data());
+ glLightfv(GL_LIGHT0, GL_SPECULAR, Vector4f(1,1,1,1).data());
+ glLightfv(GL_LIGHT0, GL_POSITION, Vector4f(-sqrt3,-sqrt3,sqrt3,0).data());
+
+ glLightfv(GL_LIGHT1, GL_AMBIENT, Vector4f(0,0,0,1).data());
+ glLightfv(GL_LIGHT1, GL_DIFFUSE, Vector4f(1,0.5,0.5,1).data());
+ glLightfv(GL_LIGHT1, GL_SPECULAR, Vector4f(1,1,1,1).data());
+ glLightfv(GL_LIGHT1, GL_POSITION, Vector4f(-sqrt3,sqrt3,-sqrt3,0).data());
+
+ glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, Vector4f(0.7, 0.7, 0.7, 1).data());
+ glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, Vector4f(0.8, 0.75, 0.6, 1).data());
+ glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, Vector4f(1, 1, 1, 1).data());
+ glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 64);
+
+ glEnable(GL_LIGHTING);
+ glEnable(GL_LIGHT0);
+ glEnable(GL_LIGHT1);
+
+ sFancySpheres.draw();
+ glVertexPointer(3, GL_FLOAT, 0, mVertices[0].data());
+ glNormalPointer(GL_FLOAT, 0, mNormals[0].data());
+ glEnableClientState(GL_VERTEX_ARRAY);
+ glEnableClientState(GL_NORMAL_ARRAY);
+ glDrawArrays(GL_TRIANGLES, 0, mVertices.size());
+ glDisableClientState(GL_VERTEX_ARRAY);
+ glDisableClientState(GL_NORMAL_ARRAY);
+
+ glDisable(GL_LIGHTING);
+}
+
+void RenderingWidget::animate()
+{
+ m_alpha += double(m_timer.interval()) * 1e-3;
+
+ TimeLine::const_iterator hi = m_timeline.upper_bound(m_alpha);
+ TimeLine::const_iterator lo = hi;
+ --lo;
+
+ Frame currentFrame;
+
+ if(hi==m_timeline.end())
+ {
+ // end
+ currentFrame = lo->second;
+ stopAnimation();
+ }
+ else if(hi==m_timeline.begin())
+ {
+ // start
+ currentFrame = hi->second;
+ }
+ else
+ {
+ float s = (m_alpha - lo->first)/(hi->first - lo->first);
+ if (mLerpMode==LerpEulerAngles)
+ currentFrame = ::lerpFrame<EulerAngles<float> >(s, lo->second, hi->second);
+ else if (mLerpMode==LerpQuaternion)
+ currentFrame = ::lerpFrame<Eigen::Quaternionf>(s, lo->second, hi->second);
+ else
+ {
+ std::cerr << "Invalid rotation interpolation mode (abort)\n";
+ exit(2);
+ }
+ currentFrame.orientation.coeffs().normalize();
+ }
+
+ currentFrame.orientation = currentFrame.orientation.inverse();
+ currentFrame.position = - (currentFrame.orientation * currentFrame.position);
+ mCamera.setFrame(currentFrame);
+
+ updateGL();
+}
+
+void RenderingWidget::keyPressEvent(QKeyEvent * e)
+{
+ switch(e->key())
+ {
+ case Qt::Key_Up:
+ mCamera.zoom(2);
+ break;
+ case Qt::Key_Down:
+ mCamera.zoom(-2);
+ break;
+ // add a frame
+ case Qt::Key_G:
+ grabFrame();
+ break;
+ // clear the time line
+ case Qt::Key_C:
+ m_timeline.clear();
+ break;
+ // move the camera to initial pos
+ case Qt::Key_R:
+ resetCamera();
+ break;
+ // start/stop the animation
+ case Qt::Key_A:
+ if (mAnimate)
+ {
+ stopAnimation();
+ }
+ else
+ {
+ m_alpha = 0;
+ connect(&m_timer, SIGNAL(timeout()), this, SLOT(animate()));
+ m_timer.start(1000/30);
+ mAnimate = true;
+ }
+ break;
+ default:
+ break;
+ }
+
+ updateGL();
+}
+
+void RenderingWidget::stopAnimation()
+{
+ disconnect(&m_timer, SIGNAL(timeout()), this, SLOT(animate()));
+ m_timer.stop();
+ mAnimate = false;
+ m_alpha = 0;
+}
+
+void RenderingWidget::mousePressEvent(QMouseEvent* e)
+{
+ mMouseCoords = Vector2i(e->pos().x(), e->pos().y());
+ 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"
+
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