[Visual] Changes trackball to remove precession (#5770)

* [Visual] Modifies trackball to remove precession problem

* Update Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

* [InteractiveCamera] Changes new class variables names

Following code review suggestions

Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>

* Update Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp

Co-authored-by: erik pernod <erik.pernod@gmail.com>

---------

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>
Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
Co-authored-by: erik pernod <erik.pernod@gmail.com>

Author: 4 people

Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp

@@ -537,21 +537,18 @@ void BaseCamera::rotateCameraAroundPoint(Quat& rotation, const type::Vec3& point
     updateOutputData();
 }
 
-void BaseCamera::rotateWorldAroundPoint(Quat &rotation, const type::Vec3 &point, Quat orientationCam)
+void BaseCamera::rotateWorldAroundPoint(Quat &rotation, const type::Vec3 &point, Quat orientationCam, type::Vec3 positionCam)
 {
     type::Vec3 tempAxis;
     SReal tempAngle;
-    //Quat orientationCam = this->getOrientation();
-    type::Vec3& positionCam = *d_position.beginEdit();
 
     rotation.quatToAxis(tempAxis, tempAngle);
-    const Quat tempQuat (orientationCam.rotate(-tempAxis), tempAngle);
+    const Quat tempQuat(orientationCam.rotate(-tempAxis), tempAngle);
 
     const sofa::type::Transform<SReal> world_H_cam(positionCam, orientationCam);
     const sofa::type::Transform<SReal> world_H_pivot(point, Quat());
     const sofa::type::Transform<SReal> pivotBefore_R_pivotAfter(type::Vec3(0.0,0.0,0.0), tempQuat);
     const sofa::type::Transform<SReal> camera_H_WorldAfter = world_H_cam.inversed() * world_H_pivot * pivotBefore_R_pivotAfter * world_H_pivot.inversed();
-    //defaulttype::SolidTypes<double>::Transform camera_H_WorldAfter = worldBefore_H_cam.inversed()*worldBefore_R_worldAfter;
 
     positionCam = camera_H_WorldAfter.inversed().getOrigin();
     orientationCam = camera_H_WorldAfter.inversed().getOrientation();
@@ -563,13 +560,17 @@ void BaseCamera::rotateWorldAroundPoint(Quat &rotation, const type::Vec3 &point,
     }
 
     d_orientation.setValue(orientationCam);
-    d_position.endEdit();
+    d_position.setValue(positionCam);
 
     updateOutputData();
 }
 
 
-
+void BaseCamera::rotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam)
+{
+    auto positionCam = sofa::helper::getReadAccessor(d_position);
+    rotateWorldAroundPoint(rotation, point, orientationCam, positionCam);
+}
 
 
 type::Vec3 BaseCamera::screenToViewportPoint(const type::Vec3& p) const

Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.h

@@ -102,7 +102,8 @@ class SOFA_COMPONENT_VISUAL_API BaseCamera : public core::objectmodel::BaseObjec
     void moveCamera(const type::Vec3 &p, const Quat &q);
 
     void rotateCameraAroundPoint( Quat& rotation, const type::Vec3& point);
-    virtual void rotateWorldAroundPoint( Quat& rotation, const type::Vec3& point, Quat orientationCam);
+    virtual void rotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam);
+    virtual void rotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam, type::Vec3 positionCam);
 
     type::Vec3 screenToViewportPoint(const type::Vec3& p) const;
     type::Vec3 screenToWorldPoint(const type::Vec3& p);

Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.cpp

@@ -70,6 +70,7 @@ void InteractiveCamera::moveCamera(int x, int y)
             currentTrackball.ComputeQuaternion(x1, y1, x2, y2);
             //fetch rotation
             newQuat = currentTrackball.GetQuaternion();
+
             type::Vec3 pivot;
             switch (d_pivot.getValue())
             {
@@ -87,7 +88,7 @@ void InteractiveCamera::moveCamera(int x, int y)
                 pivot = sceneCenter;
                 break;
             }
-            rotateWorldAroundPoint(newQuat, pivot, this->getOrientation());
+            rotateWorldAroundPoint(newQuat, pivot, m_startingCameraOrientation, m_startingCameraPosition);
         }
         else if (currentMode == ZOOM_MODE)
         {
@@ -117,8 +118,11 @@ void InteractiveCamera::moveCamera(int x, int y)
         }
         //must call update afterwards
 
-        lastMousePosX = x;
-        lastMousePosY = y;
+        if (currentMode != TRACKBALL_MODE)
+        {
+            lastMousePosX = x;
+            lastMousePosY = y;
+        }
     }
     else if (currentMode == WHEEL_ZOOM_MODE)
     {
@@ -186,6 +190,9 @@ void InteractiveCamera::processMouseEvent(core::objectmodel::MouseEvent* me)
     {
         isMoving = true;
         currentMode = TRACKBALL_MODE;
+        
+        m_startingCameraOrientation = this->getOrientation();
+        m_startingCameraPosition = this->getPosition();
         lastMousePosX = posX;
         lastMousePosY = posY;
     }

Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.h

@@ -56,6 +56,8 @@ class SOFA_COMPONENT_VISUAL_API InteractiveCamera : public BaseCamera
     bool isMoving;
     int lastMousePosX, lastMousePosY;
     helper::visual::Trackball currentTrackball;
+    sofa::type::Quatd m_startingCameraOrientation;
+    sofa::type::Vec3 m_startingCameraPosition;
 
     void internalUpdate() override;
 protected:

Sofa/framework/Helper/src/sofa/helper/visual/Trackball.h

@@ -89,6 +89,7 @@ class SOFA_HELPER_API Trackball
     // Accessors
     void SetQuaternion(sofa::type::Quat<SReal> Q);
     sofa::type::Quat<SReal> 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).
@@ -101,8 +102,9 @@ class SOFA_HELPER_API Trackball
     // expressed in radians.  The result is put into the third argument.
     void AxisToQuat(double a[3], double phi, double q[4]);
 
+
 private:
-    sofa::type::Quat<SReal>	_quat;
+    sofa::type::Quat<SReal> _quat;
 };
 
 } // namespace sofa::helper::visual