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# The luxo example

A more complex example that combines `ManipulatedFrames`, selection and constraints.

This example illustrates different functions of the viewer. It displays a famous luxo lamp (Pixar) that can be interactively manipulated with the mouse. It illustrates the use of several `ManipulatedFrames` in the same scene.

Shift click on any part of the lamp to select it, and then move it with the mouse. To move the camera select the background or press the `Control` key (default modifier keys are switched).

A simpler object selection example is given in `select`.
A simpler frame displacement example is given in `manipulatedFrame`.
A simpler constrained frame example is given in `constrainedFrame`.

Since we use gluCylinder

## luxo.h

    #include <QGLViewer/qglviewer.h>

    class Luxo {
    public:
      Luxo();

      void draw(bool names = false);

      qglviewer::ManipulatedFrame *frame(unsigned short i) { return frame_[i]; }
      void setSelectedFrameNumber(unsigned short nb) { selected = nb; }

    private:
      // The four articulations of the lamp
      qglviewer::ManipulatedFrame *frame_[4];
      // Used to draw the selected element in a different color
      unsigned short selected;

      void drawCone(float zMin, float zMax, float r1, float r2, int nbSub);
      void drawBase();
      void drawArm();
      void drawCylinder();
      void setColor(unsigned short nb);
      void drawHead();
    };

    class Viewer : public QGLViewer {
    protected:
      virtual void draw();
      virtual void init();
      virtual void drawWithNames();
      virtual void postSelection(const QPoint &point);
      virtual QString helpString() const;

      void initSpotLight();

    private:
      Luxo luxo;
    };

## luxo.cpp

    #include "luxo.h"
    #include <math.h>

    #include <QGLViewer/manipulatedCameraFrame.h>

    #if QT_VERSION > QT_VERSION_CHECK(6, 0, 0)
    #define MidButton MiddleButton
    #endif

    using namespace qglviewer;
    using namespace std;

    //////////////////////////////////  V i e w e r
    ///////////////////////////////////////////

    QString Viewer::helpString() const {
      QString text("<h2>L u x o  ©</h2>");
      text += "This example illustrates several functionnalities of QGLViewer, ";
      text += "showing how easy it is to create a moderately complex "
              "application.<br><br>";
      text += "The famous luxo lamp (©Pixar) can interactively be manipulated ";
      text += "with the mouse. <b>Shift</b> left click on an a part of the lamp to "
              "select it, ";
      text += "and then move it with the mouse. Press the <b>Alt</b> key or select "
              "the background ";
      text += "to move the camera instead.<br><br>";
      text += "A simpler object selection example is given in the <i>select</i> "
              "example. ";
      text += "A simpler frame displacement example is available in "
              "<i>manipulatedFrame</i> and ";
      text += "a simpler constrained frame example is illustrated in "
              "<i>constrainedFrame</i>. ";
      text +=
          "See <i>multiSelect</i> for a multi-object selection example.<br><br>";
      text += "Feel free to use this code as the starting point of a multiple "
              "frame manipulation application.";
      return text;
    }

    void Viewer::initSpotLight() {
      glMatrixMode(GL_MODELVIEW);
      glEnable(GL_LIGHT1);
      glLoadIdentity();

      // Light default parameters
      GLfloat spot_dir[3] = {0.0, 0.0, 1.0};
      GLfloat light_ambient[4] = {0.5, 0.5, 0.5, 1.0};
      GLfloat light_specular[4] = {1.0, 1.0, 1.0, 1.0};
      GLfloat light_diffuse[4] = {3.0, 3.0, 1.0, 1.0};

      glLightfv(GL_LIGHT1, GL_SPOT_DIRECTION, spot_dir);
      glLightf(GL_LIGHT1, GL_SPOT_EXPONENT, 3.0);
      glLightf(GL_LIGHT1, GL_SPOT_CUTOFF, 50.0);
      glLightf(GL_LIGHT1, GL_CONSTANT_ATTENUATION, 0.5);
      glLightf(GL_LIGHT1, GL_LINEAR_ATTENUATION, 1.0);
      glLightf(GL_LIGHT1, GL_QUADRATIC_ATTENUATION, 1.5);
      glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
      glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
      glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
    }

    void Viewer::init() {
      restoreStateFromFile();

      // Make camera the default manipulated frame.
      setManipulatedFrame(camera()->frame());

      setMouseBinding(Qt::AltModifier, Qt::LeftButton, QGLViewer::CAMERA,
                      QGLViewer::ROTATE);
      setMouseBinding(Qt::AltModifier, Qt::RightButton, QGLViewer::CAMERA,
                      QGLViewer::TRANSLATE);
      setMouseBinding(Qt::AltModifier, Qt::MidButton, QGLViewer::CAMERA,
                      QGLViewer::ZOOM);
      setWheelBinding(Qt::AltModifier, QGLViewer::CAMERA, QGLViewer::ZOOM);

      setMouseBinding(Qt::NoModifier, Qt::LeftButton, QGLViewer::FRAME,
                      QGLViewer::ROTATE);
      setMouseBinding(Qt::NoModifier, Qt::RightButton, QGLViewer::FRAME,
                      QGLViewer::TRANSLATE);
      setMouseBinding(Qt::NoModifier, Qt::MidButton, QGLViewer::FRAME,
                      QGLViewer::ZOOM);
      setWheelBinding(Qt::NoModifier, QGLViewer::FRAME, QGLViewer::ZOOM);

      initSpotLight();

      help();
    }

    void Viewer::draw() {
      luxo.draw();

      // Draw the ground
      glColor3f(0.4f, 0.4f, 0.4f);
      const float nbPatches = 100;
      glNormal3f(0.0, 0.0, 1.0);
      for (int j = 0; j < nbPatches; ++j) {
        glBegin(GL_QUAD_STRIP);
        for (int i = 0; i <= nbPatches; ++i) {
          glVertex2f((2 * i / nbPatches - 1.0), (2 * j / nbPatches - 1.0));
          glVertex2f((2 * i / nbPatches - 1.0), (2 * (j + 1) / nbPatches - 1.0));
        }
        glEnd();
      }
    }

    void Viewer::drawWithNames() {
      // Render scene with objects ids
      luxo.draw(true);
    }

    void Viewer::postSelection(const QPoint &) {
      if (selectedName() == -1) {
        // Camera will be the default frame is no object is selected.
        setManipulatedFrame(camera()->frame());
        luxo.setSelectedFrameNumber(4); // dummy value meaning camera
      } else {
        setManipulatedFrame(luxo.frame(selectedName()));
        luxo.setSelectedFrameNumber(selectedName());
      }
    }

    //////////////////////////////////  L u x o
    ///////////////////////////////////////////

    Luxo::Luxo() {
      for (unsigned short i = 0; i < 4; ++i) {
        frame_[i] = new ManipulatedFrame();

        // Creates a hierarchy of frames.
        if (i > 0)
          frame(i)->setReferenceFrame(frame(i - 1));
      }

      // Initialize frames
      frame(1)->setTranslation(Vec(0.0, 0.0, 0.08f)); // Base height
      frame(2)->setTranslation(Vec(0.0, 0.0, 0.5f));  // Arm length
      frame(3)->setTranslation(Vec(0.0, 0.0, 0.5f));  // Arm length

      frame(1)->setRotation(Quaternion(Vec(1.0, 0.0, 0.0), 0.6));
      frame(2)->setRotation(Quaternion(Vec(1.0, 0.0, 0.0), -2.0));
      frame(3)->setRotation(Quaternion(Vec(1.0, -0.3f, 0.0), -1.7));

      // Set frame constraints
      WorldConstraint *baseConstraint = new WorldConstraint();
      baseConstraint->setTranslationConstraint(AxisPlaneConstraint::PLANE,
                                               Vec(0.0, 0.0, 1.0));
      baseConstraint->setRotationConstraint(AxisPlaneConstraint::AXIS,
                                            Vec(0.0, 0.0, 1.0));
      frame(0)->setConstraint(baseConstraint);

      LocalConstraint *XAxis = new LocalConstraint();
      XAxis->setTranslationConstraint(AxisPlaneConstraint::FORBIDDEN,
                                      Vec(0.0, 0.0, 0.0));
      XAxis->setRotationConstraint(AxisPlaneConstraint::AXIS, Vec(1.0, 0.0, 0.0));
      frame(1)->setConstraint(XAxis);
      frame(2)->setConstraint(XAxis);

      LocalConstraint *headConstraint = new LocalConstraint();
      headConstraint->setTranslationConstraint(AxisPlaneConstraint::FORBIDDEN,
                                               Vec(0.0, 0.0, 0.0));
      frame(3)->setConstraint(headConstraint);

      // Means camera is selected.
      selected = 4;
    }

    void Luxo::draw(bool names) {
      // Luxo's local frame
      glPushMatrix();
      glMultMatrixd(frame(0)->matrix());

      if (names)
        glPushName(0);
      setColor(0);
      drawBase();
      if (names)
        glPopName();

      if (names)
        glPushName(1);
      glMultMatrixd(frame(1)->matrix());
      setColor(1);
      drawCylinder();
      drawArm();
      if (names)
        glPopName();

      if (names)
        glPushName(2);
      glMultMatrixd(frame(2)->matrix());
      setColor(2);
      drawCylinder();
      drawArm();
      if (names)
        glPopName();

      if (names)
        glPushName(3);
      glMultMatrixd(frame(3)->matrix());
      setColor(3);
      drawHead();
      if (names)
        glPopName();

      // Add light
      const GLfloat pos[4] = {0.0, 0.0, 0.0, 1.0};
      glLightfv(GL_LIGHT1, GL_POSITION, pos);
      const GLfloat spot_dir[3] = {0.0, 0.0, 1.0};
      glLightfv(GL_LIGHT1, GL_SPOT_DIRECTION, spot_dir);
      glPopMatrix();
    }

    void Luxo::drawBase() {
      drawCone(0.0, 0.03f, 0.15f, 0.15f, 30);
      drawCone(0.03f, 0.05f, 0.15f, 0.13f, 30);
      drawCone(0.05f, 0.07f, 0.13f, 0.01f, 30);
      drawCone(0.07f, 0.09f, 0.01f, 0.01f, 10);
    }

    void Luxo::drawArm() {
      glTranslatef(0.02f, 0.0, 0.0);
      drawCone(0.0, 0.5f, 0.01f, 0.01f, 10);
      glTranslatef(-0.04f, 0.0, 0.0);
      drawCone(0.0, 0.5f, 0.01f, 0.01f, 10);
      glTranslatef(0.02f, 0.0, 0.0);
    }

    void Luxo::drawHead() {
      drawCone(-0.02f, 0.06f, 0.04f, 0.04f, 30);
      drawCone(0.06f, 0.15f, 0.04f, 0.17f, 30);
      drawCone(0.15f, 0.17f, 0.17f, 0.17f, 30);
    }

    void Luxo::drawCylinder() {
      glPushMatrix();
      glRotatef(90, 0.0, 1.0, 0.0);
      drawCone(-0.05f, 0.05f, 0.02f, 0.02f, 20);
      glPopMatrix();
    }

    void Luxo::setColor(unsigned short nb) {
      if (nb == selected)
        glColor3f(0.9f, 0.9f, 0.0);
      else
        glColor3f(0.9f, 0.9f, 0.9f);
    }

    // Draws a truncated cone aligned with the Z axis.
    void Luxo::drawCone(float zMin, float zMax, float r1, float r2, int nbSub) {
      static GLUquadric *quadric = gluNewQuadric();

      glTranslatef(0.0, 0.0, zMin);
      gluCylinder(quadric, r1, r2, zMax - zMin, nbSub, 1);
      glTranslatef(0.0, 0.0, -zMin);
    }

## main.cpp

    #include "luxo.h"
    #include <qapplication.h>

    int main(int argc, char **argv) {
      QApplication application(argc, argv);

      Viewer viewer;

      viewer.setWindowTitle("luxo");

      viewer.show();

      return application.exec();
    }

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