/usr/include/kido/gui/Trackball.hpp is in libkido-gui-dev 0.1.0+dfsg-2build9.
This file is owned by root:root, with mode 0o644.
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* Copyright (c) 2011-2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Sumit Jain <sumit@cc.gatech.edu>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef KIDO_GUI_TRACKBALL_HPP_
#define KIDO_GUI_TRACKBALL_HPP_
#include <Eigen/Core>
#include <Eigen/Geometry>
namespace kido {
namespace gui {
/// \brief
class Trackball {
public:
// To get byte-aligned Eigen vectors
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/// \brief Default constructor
Trackball();
/// \brief Constructor
Trackball(const Eigen::Vector2d& _center, double _radius);
/// \brief Set the starting position to the project of (x,y) on the trackball
void startBall(double _x, double _y);
/// \brief Update the current rotation to rotate from mStartPos to the
/// projection of (x,y) on trackball, then update mStartPos
void updateBall(double _x, double _y);
/// \brief Apply the current rotation to openGL env
void applyGLRotation();
/// \brief Draw the trackball on screen
void draw(int _winWidth, int _winHeight);
/// \brief
void setTrackball(const Eigen::Vector2d& _center, const double _radius);
/// \brief
void setCenter(const Eigen::Vector2d& _center);
/// \brief
void setRadius(const double _radius);
/// \brief
void setQuaternion(const Eigen::Quaterniond& _q);
/// \brief
Eigen::Quaterniond getCurrQuat() const;
/// \brief
Eigen::Matrix3d getRotationMatrix() const;
/// \brief
Eigen::Vector2d getCenter() const;
/// \brief
double getRadius() const;
private:
/// \brief Project screen coordinate (x,y) to the trackball
Eigen::Vector3d mouseOnSphere(double _mouseX, double _mouseY) const;
/// \brief Compute the quaternion that rotates from vector "from" to vector
/// "to"
Eigen::Quaterniond quatFromVectors(const Eigen::Vector3d& _from,
const Eigen::Vector3d& _to) const;
/// \brief
Eigen::Vector2d mCenter;
/// \brief
double mRadius;
/// \brief
Eigen::Vector3d mStartPos;
/// \brief
Eigen::Quaterniond mCurrQuat;
};
} // namespace gui
} // namespace kido
#endif // KIDO_GUI_TRACKBALL_HPP_
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