diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/glview.cc | 41 |
1 files changed, 36 insertions, 5 deletions
diff --git a/src/glview.cc b/src/glview.cc index c96fe01..59a56d6 100644 --- a/src/glview.cc +++ b/src/glview.cc @@ -58,6 +58,8 @@ #define FAR_FAR_AWAY 100000.0 +#include <Eigen/Geometry> + GLView::GLView(QWidget *parent) : QGLWidget(parent), renderer(NULL) { init(); @@ -388,12 +390,12 @@ void GLView::paintGL() gluLookAt(0.0, -viewer_distance, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0); - glTranslated(object_trans_x, object_trans_y, object_trans_z); - glRotated(object_rot_x, 1.0, 0.0, 0.0); glRotated(object_rot_y, 0.0, 1.0, 0.0); glRotated(object_rot_z, 0.0, 0.0, 1.0); + glTranslated(object_trans_x, object_trans_y, object_trans_z); + // FIXME: Crosshairs and axes are lighted, this doesn't make sense and causes them // to change color based on view orientation. if (showcrosshairs) @@ -500,6 +502,7 @@ void GLView::paintGL() // FIXME: This was an attempt to keep contrast with background, but is suboptimal // (e.g. nearly invisible against a gray background). int r,g,b; + r=g=b=0; // bgcol.getRgb(&r, &g, &b); glColor3d((255.0-r)/255.0, (255.0-g)/255.0, (255.0-b)/255.0); glBegin(GL_LINES); @@ -557,7 +560,6 @@ void GLView::mousePressEvent(QMouseEvent *event) setFocus(); } - void GLView::normalizeAngle(GLdouble& angle) { while(angle < 0) @@ -594,8 +596,37 @@ void GLView::mouseMoveEvent(QMouseEvent *event) if ((QApplication::keyboardModifiers() & Qt::ShiftModifier) != 0) { viewer_distance += (GLdouble)dy; } else { - object_trans_x += dx; - object_trans_z -= dy; + + double mx = +(dx) * viewer_distance/1000; + double my = -(dy) * viewer_distance/1000; + + Eigen::Matrix3d aax, aay, aaz, tm3; + aax = Eigen::AngleAxisd(-(object_rot_x/180) * M_PI,Eigen::Vector3d::UnitX()); + aay = Eigen::AngleAxisd(-(object_rot_y/180) * M_PI,Eigen::Vector3d::UnitY()); + aaz = Eigen::AngleAxisd(-(object_rot_z/180) * M_PI,Eigen::Vector3d::UnitZ()); + tm3 = Eigen::Matrix3d::Identity(); + tm3 = aaz * (aay * (aax * tm3)); + + Eigen::Matrix4d tm; + tm = Eigen::Matrix4d::Identity(); + for (int i=0;i<3;i++) for (int j=0;j<3;j++) tm(j,i)=tm3(j,i); + + Eigen::Matrix4d vec; + vec << + 0, 0, 0, mx, + 0, 0, 0, 0, + 0, 0, 0, my, + 0, 0, 0, 1 + ; + if ((QApplication::keyboardModifiers() & Qt::ShiftModifier) != 0) { + vec(0,3) = 0; + vec(1,3) = my; + vec(2,3) = 0; + } + tm = tm * vec; + object_trans_x += tm(0,3); + object_trans_y += tm(1,3); + object_trans_z += tm(2,3); } } updateGL(); |