org.simantics.g3d.vtk/src/org/simantics/g3d/vtk/swt/RotateAction.java

   1 /*******************************************************************************
   2  * Copyright (c) 2012, 2013 Association for Decentralized Information Management in
   3  * Industry THTH ry.
   4  * All rights reserved. This program and the accompanying materials
   5  * are made available under the terms of the Eclipse Public License v1.0
   6  * which accompanies this distribution, and is available at
   7  * http://www.eclipse.org/legal/epl-v10.html
   8  *
   9  * Contributors:
  10  *     VTT Technical Research Centre of Finland - initial API and implementation
  11  *******************************************************************************/
  12 package org.simantics.g3d.vtk.swt;
  13
  14
  15 import java.awt.event.KeyEvent;
  16 import java.awt.event.MouseEvent;
  17
  18 import javax.vecmath.AxisAngle4d;
  19 import javax.vecmath.Point3d;
  20 import javax.vecmath.Quat4d;
  21 import javax.vecmath.Vector3d;
  22
  23 import org.eclipse.swt.SWT;
  24 import org.eclipse.swt.events.SelectionAdapter;
  25 import org.eclipse.swt.events.SelectionEvent;
  26 import org.eclipse.swt.graphics.Cursor;
  27 import org.eclipse.swt.widgets.Button;
  28 import org.eclipse.swt.widgets.Combo;
  29 import org.eclipse.swt.widgets.Display;
  30 import org.eclipse.swt.widgets.Label;
  31 import org.simantics.g3d.math.EulerTools;
  32 import org.simantics.g3d.math.EulerTools.Order;
  33 import org.simantics.g3d.math.MathTools;
  34 import org.simantics.g3d.math.Ray;
  35 import org.simantics.g3d.preferences.PreferenceConstants;
  36 import org.simantics.g3d.scenegraph.IG3DNode;
  37 import org.simantics.g3d.scenegraph.base.INode;
  38 import org.simantics.g3d.scenegraph.structural.IStructuralNode;
  39 import org.simantics.g3d.toolbar.ToolComposite;
  40 import org.simantics.g3d.vtk.Activator;
  41 import org.simantics.g3d.vtk.common.VTKNodeMap;
  42 import org.simantics.g3d.vtk.gizmo.RotateAxisGizmo;
  43 import org.simantics.g3d.vtk.utils.vtkUtil;
  44 import org.simantics.utils.threads.ThreadUtils;
  45
  46 import vtk.vtkProp;
  47 /**
  48  * FIXME: complete rewrite.
  49  *
  50  * @author Marko Luukkainen <marko.luukkainen@vtt.fi>
  51  *
  52  */
  53 public class RotateAction extends vtkSwtAction{
  54
  55         public static final int X = 0;
  56         public static final int Y = 1;
  57         public static final int Z = 2;
  58         public static final int P = 3;
  59
  60         private VTKNodeMap<?, ? extends INode> nodeMap;
  61         //private TranslateGizmo  gizmo = new TranslateGizmo();
  62         private RotateAxisGizmo gizmo = new RotateAxisGizmo();
  63         private IG3DNode node;
  64
  65
  66
  67         private Cursor activeCursor;// = Cursor.getPredefinedCursor(Cursor.HAND_CURSOR);
  68         private Cursor dragCursor;// = Cursor.getPredefinedCursor(Cursor.MOVE_CURSOR);
  69
  70
  71         int stepMethod = 1;
  72         Order order = Order.YXZ;
  73
  74         private int steps;
  75         private double angles[];
  76
  77         int index = P;
  78         boolean valid = false;
  79         private boolean worldCoord = true;
  80         //private AxisAngle4d aa = null;
  81         private Quat4d parentWorldOrientation = null;
  82
  83         //AxisAngle4d rotation = new AxisAngle4d();
  84         Quat4d worldOrientation = new Quat4d();
  85
  86         protected ToolComposite toolComposite;
  87     protected Combo axisCombo;
  88
  89         public void setNode(IG3DNode node) {
  90                 this.node = node;
  91                 if ((node instanceof IStructuralNode) && ((IStructuralNode)node).isPartOfInstantiatedModel() && !((IStructuralNode)node).isInstantiatedModelRoot()) {
  92                         setEnabled(false);
  93                 } else {
  94                         setEnabled(true);
  95                 }
  96
  97                 String set = org.simantics.g3d.Activator.getDefault().getPreferenceStore().getString(PreferenceConstants.ORIENTATION_PRESENTATION);
  98                 if (set.equals("aa")) {
  99                         stepMethod = 0;
 100                 } else if (set.equals("euler")){
 101                         stepMethod = 1;
 102                         String eulerOrder = org.simantics.g3d.Activator.getDefault().getPreferenceStore().getString(PreferenceConstants.EULER_ANGLE_ORDER);
 103                         try {
 104                                 order = Order.valueOf(eulerOrder);
 105                         } catch (Exception e) {
 106                                 order = Order.YXZ;
 107                         }
 108                 } else {
 109                         stepMethod = 2;
 110                 }
 111         }
 112
 113         public IG3DNode getNode() {
 114                 return node;
 115         }
 116
 117         public RotateAction(InteractiveVtkComposite panel, VTKNodeMap<?, ? extends INode> nodeMap, ToolComposite toolComposite) {
 118                 super(panel);
 119                 setImageDescriptor(Activator.imageDescriptorFromPlugin("com.famfamfam.silk", "icons/arrow_rotate_clockwise.png"));
 120                 setText("Rotate");
 121                 this.nodeMap = nodeMap;
 122                 this.toolComposite = toolComposite;
 123
 124                 steps = 36;
 125                 angles = new double[steps+1];
 126                 for (int i = 0; i < angles.length; i++) {
 127                         angles[i] = - Math.PI + (Math.PI * i * 2.0 / steps);
 128                 }
 129
 130                 activeCursor = Display.getCurrent().getSystemCursor(SWT.CURSOR_HAND);
 131                 dragCursor = Display.getCurrent().getSystemCursor(SWT.CURSOR_CROSS);
 132         }
 133
 134         protected void createTools(ToolComposite toolComposite) {
 135         Label label = new Label(toolComposite, SWT.READ_ONLY);
 136         label.setText("Rotate axis:");
 137         axisCombo = new Combo(toolComposite, SWT.READ_ONLY);
 138         axisCombo.add("X");
 139         axisCombo.add("Y");
 140         axisCombo.add("Z");
 141         axisCombo.add("Camera");
 142         axisCombo.addSelectionListener(new SelectionAdapter() {
 143             @Override
 144             public void widgetSelected(SelectionEvent e) {
 145                 Combo c = (Combo)e.getSource();
 146                 index = c.getSelectionIndex();
 147                 updateLock();
 148                 panel.getComponent().setFocus();
 149             }
 150         });
 151         axisCombo.select(index);
 152
 153         Button close = new Button(toolComposite, SWT.PUSH);
 154         close.setText("Close");
 155         close.addSelectionListener(new SelectionAdapter() {
 156             public void widgetSelected(SelectionEvent e) {
 157                 panel.useDefaultAction();
 158             };
 159         });
 160         toolComposite.relayout();
 161     }
 162
 163         public void attach() {
 164                 if (node == null)
 165                         return;
 166                 if (toolComposite != null) {
 167                    createTools(toolComposite);
 168             }
 169                 super.attach();
 170                 ThreadUtils.asyncExec(panel.getThreadQueue(), new Runnable() {
 171                         public void run() {
 172                                 attachUI();
 173                                 update();
 174                         }
 175                 });
 176
 177
 178
 179         }
 180
 181         public void deattach() {
 182             if (toolComposite != null) {
 183             toolComposite.clear();
 184             axisCombo = null;
 185         }
 186                 node = null;
 187                 nodeMap.commit("Rotate");
 188                 deattachUI();
 189                 super.deattach();
 190                 panel.refresh();
 191         }
 192
 193         private void attachUI() {
 194                 panel.getComponent().setCursor(activeCursor);
 195                 gizmo.attach(panel);
 196         }
 197
 198         private void deattachUI() {
 199                 panel.getComponent().setCursor(Display.getCurrent().getSystemCursor(SWT.CURSOR_ARROW));
 200                 gizmo.deattach();
 201         }
 202
 203         @Override
 204         public boolean keyPressed(KeyEvent e) {
 205                 if (e.getKeyCode() == KeyEvent.VK_ESCAPE)
 206                         panel.useDefaultAction();
 207                 if (valid)
 208                         return true;
 209                 if (e.getKeyCode() == KeyEvent.VK_X) {
 210                         if (index != X)
 211                                 index = X;
 212                         else
 213                                 index = P;
 214                 }
 215                 if (e.getKeyCode() == KeyEvent.VK_Y) {
 216                         if (index != Y)
 217                                 index = Y;
 218                         else
 219                                 index = P;
 220                 }
 221                 if (e.getKeyCode() == KeyEvent.VK_Z) {
 222                         if (index != Z)
 223                                 index = Z;
 224                         else
 225                                 index = P;
 226                 }
 227                 if (e.getKeyCode() == KeyEvent.VK_G) {
 228                         worldCoord = !worldCoord;
 229                 }
 230
 231                 updateLock();
 232
 233                 return true;
 234         }
 235
 236         private void updateLock() {
 237             gizmo.setType(index);
 238             if (axisCombo != null)
 239             axisCombo.select(index);
 240         panel.refresh();
 241         }
 242
 243         @Override
 244         public boolean keyReleased(KeyEvent e) {
 245                 return false;
 246         }
 247
 248
 249
 250         @Override
 251         public boolean mouseClicked(MouseEvent e) {
 252                 if (e.getClickCount() > 1) {
 253                         if (isOverNode(e)) {
 254                                 return true;
 255                         }
 256                         panel.useDefaultAction();
 257                         //if(!gizmo.isPartOf(actor))
 258                         //      panel.useDefaultAction();
 259                         return true;
 260                 }
 261                 return false;
 262         }
 263
 264
 265
 266
 267
 268
 269
 270         public void setWorldCoord(boolean b) {
 271                 if (worldCoord == b)
 272                         return;
 273                 worldCoord = b;
 274                 update();
 275
 276         }
 277
 278
 279         private void update() {
 280                 Vector3d nodePos = node.getWorldPosition();
 281 //              System.out.println(nodePos);
 282                 gizmo.setPosition(nodePos);
 283                 if (worldCoord) {
 284                         gizmo.setRotation(new AxisAngle4d());
 285                         parentWorldOrientation = null;
 286                 } else {
 287                         AxisAngle4d aa = new AxisAngle4d();
 288                         parentWorldOrientation = ((IG3DNode)node.getParent()).getWorldOrientation();
 289                         aa.set(parentWorldOrientation);
 290                         gizmo.setRotation(aa);
 291                 }
 292
 293                 Point3d camPos = new Point3d(panel.getRenderer().GetActiveCamera().GetPosition());
 294                 Vector3d p = new Vector3d(nodePos);
 295                 p.sub(camPos);
 296
 297                 if (parentWorldOrientation != null) {
 298                         Quat4d qi = new Quat4d(parentWorldOrientation);
 299                         qi.inverse();
 300                         MathTools.rotate(parentWorldOrientation, p, p);
 301                 }
 302                 if (panel.getRenderer().GetActiveCamera().GetParallelProjection() == 0) {
 303                         double distance = p.length();
 304                         p.negate();
 305                         double fov = panel.getRenderer().GetActiveCamera().GetViewAngle();
 306                         float s = (float) (Math.sin(fov) * distance * 0.1);
 307
 308                         Vector3d scale = new Vector3d(1., 1., 1.);
 309
 310 //            if (p.x > 0.f)
 311 //                scale.x = -1.;
 312 //            if (p.y > 0.f)
 313 //                scale.y = -1.;
 314 //            if (p.z > 0.f)
 315 //                scale.z = -1.;
 316                         scale.scale(s);
 317                         gizmo.setScale(scale);
 318
 319                 } else {
 320                         Vector3d scale = new Vector3d(1.f, 1.f, 1.f);
 321                         double s = panel.getRenderer().GetActiveCamera().GetParallelScale() / 5.;
 322 //            if (p.x > 0.f)
 323 //                scale.x = -1.;
 324 //            if (p.y > 0.f)
 325 //                scale.y = -1.;
 326 //            if (p.z > 0.f)
 327 //                scale.z = -1.;
 328                         scale.scale(s);
 329                         gizmo.setScale(scale);
 330                 }
 331
 332                 panel.refresh();
 333         }
 334
 335         private boolean isOverNode(MouseEvent e) {
 336                 vtkProp picked[] = panel.pick(e.getX(), e.getY());
 337                 if (picked !=null) {
 338                         for (int i = 0; i < picked.length; i++) {
 339                                 if (node.equals(nodeMap.getNode(picked[i])))
 340                                         return true;
 341                         }
 342                 }
 343                 return false;
 344         }
 345
 346
 347
 348         @Override
 349         public boolean mousePressed(MouseEvent e) {
 350                 if (e.getButton() == MouseEvent.BUTTON1) {
 351
 352
 353                         if (isOverNode(e)) {
 354                                 valid = true;
 355                                 if ((e.getModifiers() & MouseEvent.CTRL_MASK) > 0) {
 356                                         useStep = true;
 357                                 } else {
 358                                         useStep = false;
 359                                 }
 360                                 worldOrientation = node.getWorldOrientation();
 361                                 doChanges(true, e.getX(), e.getY());
 362
 363                                 panel.getComponent().setCursor(dragCursor);
 364                         } else {
 365                                 valid = false;
 366                                 getDefaultAction().mousePressed(e);
 367                                 panel.getComponent().setCursor(activeCursor);
 368                         }
 369                 } else {
 370                         getDefaultAction().mousePressed(e);
 371                 }
 372                 return true;
 373         }
 374
 375
 376
 377         @Override
 378         public boolean mouseReleased(MouseEvent e) {
 379                 if (e.getButton() == MouseEvent.BUTTON1) {
 380                         valid = false;
 381                         worldOrientation = null;
 382                         panel.getComponent().setCursor(activeCursor);
 383                 } else {
 384                         getDefaultAction().mouseReleased(e);
 385                 }
 386                 return true;
 387         }
 388
 389         @Override
 390         public boolean mouseDragged(MouseEvent e) {
 391                 if ((e.getModifiersEx() & MouseEvent.BUTTON1_DOWN_MASK) > 0 && valid) {
 392                         if ((e.getModifiers() & MouseEvent.CTRL_MASK) > 0) {
 393                                 useStep = true;
 394                         } else {
 395                                 useStep = false;
 396                         }
 397                         doChanges(false, e.getX(), e.getY());
 398
 399                         //nodeMap.modified(node);
 400                         update();
 401                 } else {
 402                         getDefaultAction().mouseDragged(e);
 403                         update();
 404                 }
 405                 return true;
 406         }
 407
 408         Vector3d axis = null;
 409
 410         @Override
 411         public boolean keyTyped(KeyEvent e) {
 412                 if (e.getKeyCode() == KeyEvent.VK_LEFT) {
 413                         inputType = InputType.KEY;
 414                         axis = new Vector3d(0.0,1.0,0.0);
 415                 } else if (e.getKeyCode() == KeyEvent.VK_RIGHT) {
 416                         inputType = InputType.KEY;
 417                         axis = new Vector3d(0.0,-1.0,0.0);
 418                 } else if (e.getKeyCode() ==KeyEvent.VK_UP) {
 419                         inputType = InputType.KEY;
 420                         axis = new Vector3d(1.0,0.0,0.0);
 421                 } else if (e.getKeyCode() == KeyEvent.VK_DOWN) {
 422                         inputType = InputType.KEY;
 423                         axis = new Vector3d(-1.0,0.0,0.0);
 424                 }
 425                 return true;
 426         }
 427
 428         public void doChanges(boolean pressed, int x, int y) {
 429                 Ray ray = vtkUtil.createMouseRay(panel.getRenderer(),x, y);
 430                 Vector3d p = node.getWorldPosition();
 431
 432                 if (pressed) {
 433                         Vector3d axis = getRotationAxis();
 434                         if (axis != null) {
 435                                 if (!worldCoord) {
 436                                         MathTools.rotate(parentWorldOrientation, axis, axis);
 437                                 }
 438
 439
 440                                 double s[] = new double[2];
 441                                 Vector3d i2 = new Vector3d();
 442
 443                                 boolean intersect = MathTools.intersectStraightPlane(ray.pos, ray.dir, p, axis, i2, s);
 444                                 double dot = Math.abs(ray.dir.dot(axis));
 445                                 if (intersect &&  dot > 0.4)
 446                                         inputType = InputType.INTERSECT;
 447                                 else
 448                                         inputType = InputType.NONINTERSECT;
 449
 450
 451                                 if (inputType == InputType.INTERSECT) {
 452                                         // picking ray and plane defined by gizmo's center point and
 453                                         // rotation axis can intersect
 454                                         // vector from center point to intersection point
 455                                         i2.sub(p);
 456                                         // creating vectors i and j that are lying on the plane and
 457                                         // are perpendicular
 458                                         // vectors are used to calculate polar coordinate for
 459                                         // intersection point
 460                                         j.set(i2);
 461                                         i.cross(j, axis);
 462 //                                      System.out.println("I,J " + i + " " + j);
 463                                         double angleI = i2.angle(i);
 464                                         double angleJ = i2.angle(j);
 465                                         prevAngle = Math.atan2(Math.cos(angleJ), Math.cos(angleI));
 466                                 } else {
 467                                         // picking ray and plane defined by gizmo's center point and
 468                                         // rotation axis are parallel,
 469                                         // so we'll use cross product of rotation axis and picking
 470                                         // ray to detect amount of rotation
 471                                         i.cross(ray.dir, axis);
 472                                         MathTools.intersectStraightStraight(ray.pos, ray.dir, p, i, new Vector3d(), new Vector3d(), s);
 473                                         prevS = s[1];
 474                                 }
 475                         }
 476
 477
 478                 }
 479
 480                 if (inputType != InputType.KEY)
 481                         axis = getRotationAxis();
 482                 if (axis == null) {
 483                         return;
 484                 }
 485                 Vector3d taxis = null;
 486                 if (!worldCoord) {
 487                         taxis = new Vector3d(axis);
 488                         MathTools.rotate(parentWorldOrientation, axis, axis);
 489                 }
 490 //              System.out.println(inputType);
 491                 if (inputType == InputType.INTERSECT) {
 492
 493                         double s[] = new double[2];
 494                         Vector3d i2 = new Vector3d();
 495                         MathTools.intersectStraightPlane(ray.pos, ray.dir, p, axis, i2, s);
 496                         i2.sub(p);
 497                         double angleI = i2.angle(i);
 498                         double angleJ = i2.angle(j);
 499                         double angle = Math.atan2(Math.cos(angleJ), Math.cos(angleI));
 500 //                      System.out.println("Angle " + angle + " i " + angleI + " j " + angleJ + " prev " + prevAngle);
 501                         if(!worldCoord)
 502                                 axis = taxis;
 503                         if (useStep) {
 504
 505                                 //setOrientation(MathTools.getQuat(rotation));
 506                                 AxisAngle4d rot = new AxisAngle4d(axis,angle-prevAngle);
 507                                 Quat4d qrot = new Quat4d();
 508                                 MathTools.getQuat(rot, qrot);
 509                                 //prevAngle = angle;
 510                                 qrot.mulInverse(worldOrientation);
 511
 512
 513                                 if (stepMethod == 0) {
 514                                         rot.set(qrot);
 515                                         rot.angle = roundAngle(rot.angle);
 516                                         //qrot.set(rot);
 517                                         MathTools.getQuat(rot,qrot);
 518                                         setOrientation(qrot);
 519                                 } else if (stepMethod == 1){
 520
 521                                         //Vector3d euler = MathTools.getEuler(qrot);
 522                                         Vector3d euler = EulerTools.getEulerFromQuat(order, qrot);
 523                                         euler.x = roundAngle(euler.x);
 524                                         euler.y = roundAngle(euler.y);
 525                                         euler.z = roundAngle(euler.z);
 526                                         //Quat4d q = MathTools.getQuat(euler);
 527                                         Quat4d q = EulerTools.getQuatFromEuler(order, euler);
 528                                         setOrientation(q);
 529 //                                      System.out.println(" (" + MathTools.radToDeg(euler.x) + " " + MathTools.radToDeg(euler.y) + " " + MathTools.radToDeg(euler.z) +  ") " + qrot + " "+ q);
 530                                 } else {
 531                                         setOrientation(qrot);
 532                                 }
 533
 534                         } else {
 535                                 if (worldCoord) {
 536                                         //G3DTools.multiplyOrientation(mo.getG3DNode(graph).getWorldOrientation(), new AxisAngle4d(axis,angle-prevAngle));
 537                                         AxisAngle4d aa = MathTools.getAxisAngle(node.getWorldOrientation());
 538                                         AxisAngle4d rot = new AxisAngle4d(axis,angle-prevAngle);
 539                                         MathTools.multiplyOrientation(aa, rot);
 540                                         setWorldOrientation(MathTools.getQuat(rot));
 541                                 } else {
 542                                         AxisAngle4d aa = MathTools.getAxisAngle(node.getOrientation());
 543                                         AxisAngle4d rot = new AxisAngle4d(axis,angle-prevAngle);
 544                                         MathTools.multiplyOrientation(aa, rot);
 545                                         setOrientation(MathTools.getQuat(rot));
 546                                         //G3DTools.multiplyOrientation(mo.getG3DNode(graph).getLocalOrientation(), new AxisAngle4d(axis,angle-prevAngle));
 547                                 }
 548                                 prevAngle = angle;
 549                         }
 550
 551                 } else if (inputType == InputType.NONINTERSECT){
 552
 553                         double s[] = new double[2];
 554                         MathTools.intersectStraightStraight(ray.pos, ray.dir, p, i, new Vector3d(), new Vector3d(), s);
 555                         if(!worldCoord)
 556                                 axis = taxis;
 557                         if (useStep) {
 558                                 //setOrientation(MathTools.getQuat(rotation));
 559                                 AxisAngle4d rot = new AxisAngle4d(axis,s[1] - prevS);
 560
 561                                 Quat4d qrot = new Quat4d();
 562                                 //qrot.set(rot);
 563                                 MathTools.getQuat(rot, qrot);
 564                                 //prevAngle = angle;
 565                                 qrot.mulInverse(worldOrientation);
 566
 567
 568                                 if (stepMethod == 0) {
 569                                         rot.set(qrot);
 570                                         rot.angle = roundAngle(rot.angle);
 571                                         //qrot.set(rot);
 572                                         MathTools.getQuat(rot,qrot);
 573                                         setOrientation(qrot);
 574                                 } else if (stepMethod == 1){
 575
 576                                         //Vector3d euler = MathTools.getEuler(qrot);
 577                                         Vector3d euler = EulerTools.getEulerFromQuat(order, qrot);
 578                                         euler.x = roundAngle(euler.x);
 579                                         euler.y = roundAngle(euler.y);
 580                                         euler.z = roundAngle(euler.z);
 581                                         //Quat4d q = MathTools.getQuat(euler);
 582                                         Quat4d q = EulerTools.getQuatFromEuler(order, euler);
 583                                         setOrientation(q);
 584 //                                      System.out.println(" (" + MathTools.radToDeg(euler.x) + " " + MathTools.radToDeg(euler.y) + " " + MathTools.radToDeg(euler.z) +  ") " + qrot + " "+ q);
 585                                 } else {
 586                                         setOrientation(qrot);
 587                                 }
 588                                 prevS = s[1];
 589
 590 //                    G3DTools.setOrientation(mo.getG3DNode(graph).getLocalOrientation(), rotations.get(mo));
 591 //                    G3DTools.multiplyOrientation(mo.getG3DNode(graph).getWorldOrientation(), new AxisAngle4d(axis,s[1] - prevS));
 592 //                    AxisAngle4d aa = G3DTools.getOrientation(mo.getG3DNode(graph).getLocalOrientation());
 593 //                    rotations.put(mo, aa);
 594 //                    Vector3d euler = MathTools.getEuler(aa);
 595 //                    euler.x = roundAngle(euler.x);
 596 //                    euler.y = roundAngle(euler.y);
 597 //                    euler.z = roundAngle(euler.z);
 598 //                    aa = MathTools.getFromEuler2(euler);
 599 //                    prevS = s[1];
 600 //                    G3DTools.setOrientation(mo.getG3DNode(graph).getLocalOrientation(), aa);
 601 //                    Vector3d e = MathTools.getEuler(G3DTools.getOrientation(mo.getG3DNode(graph).getLocalOrientation()));
 602 //                    e.scale(180.0/Math.PI);
 603 //                    text += G3DTools.getOrientation(mo.getG3DNode(graph).getLocalOrientation()) + " " + e + " ";
 604
 605
 606                         } else {
 607                                         if (worldCoord) {
 608                                                 AxisAngle4d aa =  MathTools.getAxisAngle(node.getWorldOrientation());
 609                                                 AxisAngle4d rot = new AxisAngle4d(axis,s[1] - prevS);
 610                                                 MathTools.multiplyOrientation(aa, rot);
 611                                                 setWorldOrientation(MathTools.getQuat(rot));
 612                                                 //G3DTools.multiplyOrientation(mo.getG3DNode(graph).getWorldOrientation(), new AxisAngle4d(axis,s[1] - prevS));
 613                                         } else {
 614                                                 AxisAngle4d aa =  MathTools.getAxisAngle(node.getOrientation());
 615                                                 AxisAngle4d rot = new AxisAngle4d(axis,s[1] - prevS);
 616                                                 MathTools.multiplyOrientation(aa, rot);
 617                                                 setOrientation(MathTools.getQuat(rot));
 618                                                 //G3DTools.multiplyOrientation(mo.getG3DNode(graph).getLocalOrientation(), new AxisAngle4d(axis,s[1] - prevS));
 619                                         }
 620                                         //text += G3DTools.getOrientation(mo.getG3DNode(graph).getLocalOrientation()) + " " + MathTools.getEuler(G3DTools.getOrientation(mo.getG3DNode(graph).getLocalOrientation())) + " ";
 621                                 prevS = s[1];
 622
 623                         }
 624
 625                 } else {
 626                         if (worldCoord) {
 627                                 AxisAngle4d aa = MathTools.getAxisAngle(node.getWorldOrientation());
 628                                 AxisAngle4d rot = new AxisAngle4d(axis,Math.PI * 0.5);
 629                                 MathTools.multiplyOrientation(aa, rot);
 630                                 setWorldOrientation(MathTools.getQuat(rot));
 631                                 //G3DTools.multiplyOrientation(mo.getG3DNode(graph).getWorldOrientation(), new AxisAngle4d(axis,Math.PI * 0.5));
 632                         } else {
 633                                 AxisAngle4d aa = MathTools.getAxisAngle(node.getOrientation());
 634                                 AxisAngle4d rot = new AxisAngle4d(axis,Math.PI * 0.5);
 635                                 MathTools.multiplyOrientation(aa, rot);
 636                                 setOrientation(MathTools.getQuat(rot));
 637                                 //G3DTools.multiplyOrientation(mo.getG3DNode(graph).getLocalOrientation(), new AxisAngle4d(axis,Math.PI * 0.5));
 638                         }
 639                         //   text += G3DTools.getOrientation(mo.getG3DNode(graph).getLocalOrientation()) + " " + MathTools.getEuler(G3DTools.getOrientation(mo.getG3DNode(graph).getLocalOrientation())) + " ";
 640
 641                 }
 642                 //setInfoText(text);
 643
 644         }
 645
 646         protected void setOrientation(Quat4d q) {
 647                 node.setOrientation(q);
 648         }
 649
 650         protected void setWorldOrientation(Quat4d q) {
 651                 node.setWorldOrientation(q);
 652         }
 653
 654         @Override
 655         public boolean mouseMoved(MouseEvent e) {
 656                 return getDefaultAction().mouseMoved(e);
 657         }
 658
 659         private Vector3d getRotationAxis() {
 660                 switch (index) {
 661                 case X:
 662                         return new Vector3d(1.0, 0.0, 0.0);
 663                 case Y:
 664                         return new Vector3d(0.0, 1.0, 0.0);
 665                 case Z:
 666                         return new Vector3d(0.0, 0.0, 1.0);
 667                 case P:
 668                         Vector3d axis = new Vector3d(panel.getRenderer().GetActiveCamera().GetDirectionOfProjection());
 669                         axis.normalize();
 670                         return axis;
 671                 default:
 672                         return null;
 673                 }
 674         }
 675
 676         private double prevS = 0.0;
 677
 678         private Vector3d i = new Vector3d();
 679         private Vector3d j = new Vector3d();
 680         private double prevAngle = 0;
 681
 682         enum InputType{INTERSECT,NONINTERSECT,KEY,NONE};
 683         InputType inputType;
 684         private boolean useStep = false;
 685
 686
 687
 688         private double roundAngle(double angle) {
 689                 while (angle < - Math.PI)
 690                         angle += Math.PI*2.0;
 691                 while (angle > Math.PI)
 692                         angle -= Math.PI*2.0;
 693
 694
 695                 int index = 0;
 696                 while (angle > angles[index])
 697                         index++;
 698                 if (index == 0) {
 699                         angle = angles[0];
 700                 } else {
 701                         double d = angle - angles[index - 1];
 702                         double d2 = angles[index] - angle;
 703                         if (d < d2)
 704                                 angle = angles[index - 1];
 705                         else
 706                                 angle = angles[index];
 707                 }
 708                 return angle;
 709         }
 710
 711 }