Trackball.h

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
*                                                                             *
* This library is free software; you can redistribute it and/or modify it     *
* under the terms of the GNU Lesser General Public License as published by    *
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* for more details.                                                           *
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*******************************************************************************
*                              SOFA :: Framework                              *
*                                                                             *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza,  *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
/*
 * (c) Copyright 1993, 1994, Silicon Graphics, Inc.
 * ALL RIGHTS RESERVED
 * Permission to use, copy, modify, and distribute this software for
 * any purpose and without fee is hereby granted, provided that the above
 * copyright notice appear in all copies and that both the copyright notice
 * and this permission notice appear in supporting documentation, and that
 * the name of Silicon Graphics, Inc. not be used in advertising
 * or publicity pertaining to distribution of the software without specific,
 * written prior permission.
 *
 * THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU "AS-IS"
 * AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE,
 * INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR
 * FITNESS FOR A PARTICULAR PURPOSE.  IN NO EVENT SHALL SILICON
 * GRAPHICS, INC.  BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT,
 * SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY
 * KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION,
 * LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF
 * THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC.  HAS BEEN
 * ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON
 * ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE
 * POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE.
 *
 * US Government Users Restricted Rights
 * Use, duplication, or disclosure by the Government is subject to
 * restrictions set forth in FAR 52.227.19(c)(2) or subparagraph
 * (c)(1)(ii) of the Rights in Technical Data and Computer Software
 * clause at DFARS 252.227-7013 and/or in similar or successor
 * clauses in the FAR or the DOD or NASA FAR Supplement.
 * Unpublished-- rights reserved under the copyright laws of the
 * United States.  Contractor/manufacturer is Silicon Graphics,
 * Inc., 2011 N.  Shoreline Blvd., Mountain View, CA 94039-7311.
 *
 * OpenGL(TM) is a trademark of Silicon Graphics, Inc.
 */
/*
 * trackball.h
 * A virtual trackball implementation
 * Written by Gavin Bell for Silicon Graphics, November 1988.
 */

/*
 * Pass the x and y coordinates of the last and current positions of
 * the mouse, scaled so they are from (-1.0 ... 1.0).
 *
 * The resulting rotation is returned as a quaternion rotation in the
 * first paramater.
 */

#ifndef SOFA_HELPER_GL_TRACKBALL_H
#define SOFA_HELPER_GL_TRACKBALL_H

#include <sofa/defaulttype/Quat.h>

namespace sofa
{

namespace helper
{

namespace gl
{

class   Trackball
{
  public:
//  typedef Quater<double> Quaternion;

    Trackball();
    ~Trackball();

    // Accessors
    void SetQuaternion(sofa::defaulttype::Quaternion Q);
    sofa::defaulttype::Quaternion GetQuaternion(void);

    // Pass the x and y coordinates of the last and current positions of
    // the mouse, scaled so they are from (-1.0 ... 1.0).
    // The resulting rotation is returned as a quaternion rotation 
    void ComputeQuaternion(double p1x, double p1y, double p2x,
                                  double p2y);

    // This function computes a quaternion based on an axis (defined by
    // the given vector) and an angle about which to rotate.  The angle is
    // expressed in radians.  The result is put into the third argument.
    void AxisToQuat(double a[3], double phi, double q[4]);

  private:
    sofa::defaulttype::Quaternion   _quat;
};

} // namespace gl

} // namespace helper

} // namespace sofa

#endif