remixlab.dandelion.constraint

Class Constraint

java.lang.Object

remixlab.dandelion.constraint.Constraint

Direct Known Subclasses:

AxisPlaneConstraint

public abstract class Constraint
extends Object

An interface class for Frame constraints. This interface API aims to conform that of the great libQGLViewer Constraint.

This class defines the interface for the constraint that can be applied to a Frame to limit its motion. Use Frame.setConstraint(Constraint) to associate a Constraint to a Frame (default is a null Frame.constraint().

Constructor Summary

Constructors

Constructor and Description
Constraint()

Method Summary

Modifier and Type	Method and Description
Rotation	constrainRotation(Rotation rotation, Frame frame) Filters the rotation applied to the frame.
Vec	constrainTranslation(Vec translation, Frame frame) Filters the translation applied to the Frame.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Constraint

public Constraint()

Method Detail

constrainTranslation

public Vec constrainTranslation(Vec translation,
                                Frame frame)

Filters the translation applied to the Frame. This default implementation is empty (no filtering).

Overload this method in your own Constraint class to define a new translation constraint. frame is the Frame to which is applied the translation. You should refrain from directly changing its value in the constraint. Use its Frame.position() and update the translation accordingly instead.

translation is expressed in the local Frame coordinate system. Use Frame.inverseTransformOf(Vec) to express it in the world coordinate system if needed.

constrainRotation

public Rotation constrainRotation(Rotation rotation,
                                  Frame frame)

Filters the rotation applied to the frame. This default implementation is empty (no filtering).

Overload this method in your own Constraint class to define a new rotation constraint. See constrainTranslation(Vec, Frame) for details.

Use Frame.inverseTransformOf(Vec) on the rotation Quat.axis() to express rotation in the world coordinate system if needed.