Trackball.hpp

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#ifndef DART_GUI_TRACKBALL_HPP_
#define DART_GUI_TRACKBALL_HPP_
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
namespace dart {
namespace gui {
 
class Trackball {
public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  Trackball();
 
  Trackball(const Eigen::Vector2d& _center, double _radius);
 
  void startBall(double _x, double _y);
 
  void updateBall(double _x, double _y);
 
  void applyGLRotation();
 
  void draw(int _winWidth, int _winHeight);
 
  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:
  Eigen::Vector3d mouseOnSphere(double _mouseX, double _mouseY) const;
 
  Eigen::Quaterniond quatFromVectors(const Eigen::Vector3d& _from,
                                     const Eigen::Vector3d& _to) const;
 
  Eigen::Vector2d mCenter;
 
  double mRadius;
 
  Eigen::Vector3d mStartPos;
 
  Eigen::Quaterniond mCurrQuat;
};
 
}  // namespace gui
}  // namespace dart
 
#endif  // DART_GUI_TRACKBALL_HPP_