/**
* @brief Applies all trackball's transformations to the view matrix.
*/
void updateViewMatrix (void)
{
resetViewMatrix();
translate(defaultTranslation);
rotate(quaternion);
translate(translationVector);
scale(zoom);
}
/**
* @brief Compose rotation and translation
*/
void updateViewMatrix() override
{
Eigen::Vector3f xAxis = rotation_matrix.row(0);
Eigen::Vector3f yAxis = rotation_matrix.row(1);
Eigen::Vector3f zAxis = rotation_matrix.row(2);
if( rotation_Z_axis )
{
Eigen::AngleAxisf transfRotZ = Eigen::AngleAxisf(rotation_Z_axis, zAxis);
// compute X axis restricted to a rotation around Z axis
xAxis = transfRotZ * xAxis;
xAxis.normalize();
// compute Y axis restricted to a rotation around Z axis
yAxis = transfRotZ * yAxis;
yAxis.normalize();
rotation_Z_axis = 0.0;
}
Eigen::AngleAxisf transfRotY = Eigen::AngleAxisf(rotation_Y_axis, yAxis);
// compute X axis restricted to a rotation around Y axis
Eigen::Vector3f rotX = transfRotY * xAxis;
rotX.normalize();
Eigen::AngleAxisf transfRotX = Eigen::AngleAxisf(rotation_X_axis, rotX);
// rotate Z axis around Y axis, then rotate new Z axis around X new axis
Eigen::Vector3f rotZ = transfRotY * zAxis;
rotZ = transfRotX * rotZ;
rotZ.normalize();
// rotate Y axis around X new axis
Eigen::Vector3f rotY = transfRotX * yAxis;
rotY.normalize();
rotation_matrix.row(0) = rotX;
rotation_matrix.row(1) = rotY;
rotation_matrix.row(2) = rotZ;
resetViewMatrix();
view_matrix.rotate (rotation_matrix);
view_matrix.translate (translation_vector);
rotation_X_axis = 0.0;
rotation_Y_axis = 0.0;
}
/**
* @brief Resets trackball to initial position and orientation
*/
void reset (void)
{
resetViewMatrix();
resetProjectionMatrix();
}
