dart::gui::Trackball Class Reference

#include <Trackball.hpp>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Trackball ()
	Default constructor. More...
	Trackball (const Eigen::Vector2d &_center, double _radius)
	Constructor. More...
void	startBall (double _x, double _y)
	Set the starting position to the project of (x,y) on the trackball. More...
void	updateBall (double _x, double _y)
	Update the current rotation to rotate from mStartPos to the projection of (x,y) on trackball, then update mStartPos. More...
void	applyGLRotation ()
	Apply the current rotation to openGL env. More...
void	draw (int _winWidth, int _winHeight)
	Draw the trackball on screen. More...
void	setTrackball (const Eigen::Vector2d &_center, const double _radius)
void	setCenter (const Eigen::Vector2d &_center)
void	setRadius (const double _radius)
void	setQuaternion (const Eigen::Quaterniond &_q)
Eigen::Quaterniond	getCurrQuat () const
Eigen::Matrix3d	getRotationMatrix () const
Eigen::Vector2d	getCenter () const
double	getRadius () const

Private Member Functions
Eigen::Vector3d	mouseOnSphere (double _mouseX, double _mouseY) const
	Project screen coordinate (x,y) to the trackball. More...
Eigen::Quaterniond	quatFromVectors (const Eigen::Vector3d &_from, const Eigen::Vector3d &_to) const
	Compute the quaternion that rotates from vector "from" to vector "to". More...

Private Attributes
Eigen::Vector2d	mCenter
double	mRadius
Eigen::Vector3d	mStartPos
Eigen::Quaterniond	mCurrQuat

Constructor & Destructor Documentation

Trackball() [1/2]

dart::gui::Trackball::Trackball

(

)

Default constructor.

Trackball() [2/2]

dart::gui::Trackball::Trackball	(	const Eigen::Vector2d &	_center,
		double	_radius
	)

Constructor.

Member Function Documentation

applyGLRotation()

void dart::gui::Trackball::applyGLRotation

(

)

Apply the current rotation to openGL env.

draw()

void dart::gui::Trackball::draw	(	int	_winWidth,
		int	_winHeight
	)

Draw the trackball on screen.

getCenter()

Eigen::Vector2d dart::gui::Trackball::getCenter

(

)

const

getCurrQuat()

Eigen::Quaterniond dart::gui::Trackball::getCurrQuat

(

)

const

getRadius()

double dart::gui::Trackball::getRadius

(

)

const

getRotationMatrix()

Eigen::Matrix3d dart::gui::Trackball::getRotationMatrix

(

)

const

mouseOnSphere()

Eigen::Vector3d dart::gui::Trackball::mouseOnSphere ( double  _mouseX, double  _mouseY  ) const

private

Project screen coordinate (x,y) to the trackball.

quatFromVectors()

Eigen::Quaterniond dart::gui::Trackball::quatFromVectors ( const Eigen::Vector3d &  _from, const Eigen::Vector3d &  _to  ) const

private

Compute the quaternion that rotates from vector "from" to vector "to".

setCenter()

void dart::gui::Trackball::setCenter

(

const Eigen::Vector2d &

_center

)

setQuaternion()

void dart::gui::Trackball::setQuaternion

(

const Eigen::Quaterniond &

_q

)

setRadius()

void dart::gui::Trackball::setRadius

(

const double

_radius

)

setTrackball()

void dart::gui::Trackball::setTrackball	(	const Eigen::Vector2d &	_center,
		const double	_radius
	)

startBall()

void dart::gui::Trackball::startBall	(	double	_x,
		double	_y
	)

Set the starting position to the project of (x,y) on the trackball.

updateBall()

void dart::gui::Trackball::updateBall	(	double	_x,
		double	_y
	)

Update the current rotation to rotate from mStartPos to the projection of (x,y) on trackball, then update mStartPos.

Member Data Documentation

mCenter

Eigen::Vector2d dart::gui::Trackball::mCenter

private

mCurrQuat

Eigen::Quaterniond dart::gui::Trackball::mCurrQuat

private

mRadius

double dart::gui::Trackball::mRadius

private

mStartPos

Eigen::Vector3d dart::gui::Trackball::mStartPos

private