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BUG: Fix Computation of Interaction Transform Used in PositionProp | ⚠️ Changes removed from master #139

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Merged
merged 1 commit into from
Dec 21, 2023
Merged

BUG: Fix Computation of Interaction Transform Used in PositionProp | ⚠️ Changes removed from master #139

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36 changes: 25 additions & 11 deletions VirtualReality/MRML/vtkVirtualRealityViewInteractorStyle.cxx
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Original file line number Diff line number Diff line change
Expand Up @@ -281,36 +281,50 @@ void vtkVirtualRealityViewInteractorStyle::PositionProp(vtkEventData* ed, double
return;
}

// Get positions and orientations
vtkRenderWindowInteractor3D* rwi = static_cast<vtkRenderWindowInteractor3D*>(this->Interactor);

// Retrieve the last and current event positions in world coordinates
double worldPos[3] = {0.0};
edd->GetWorldPosition(worldPos);
double* lastWorldPos = rwi->GetLastWorldEventPosition(rwi->GetPointerIndex());

// Retrieve the last and current event orientation quaternions
double* worldOrientation = rwi->GetWorldEventOrientation(rwi->GetPointerIndex());
double* lastWorldOrientation = rwi->GetLastWorldEventOrientation(rwi->GetPointerIndex());

// Calculate transform
vtkNew<vtkTransform> interactionTransform;
interactionTransform->PreMultiply();

// Compute the translation vector
double translation[3] = {0.0};
for (int i = 0; i < 3; i++)
{
translation[i] = worldPos[i] - lastWorldPos[i];
}
vtkQuaternion<double> q1;
q1.SetRotationAngleAndAxis(vtkMath::RadiansFromDegrees(
lastWorldOrientation[0]), lastWorldOrientation[1], lastWorldOrientation[2], lastWorldOrientation[3]);
vtkQuaternion<double> q2;
q2.SetRotationAngleAndAxis(vtkMath::RadiansFromDegrees(
worldOrientation[0]), worldOrientation[1], worldOrientation[2], worldOrientation[3]);

// Calculate the relative quaternion rotation between the last and
// current orientations (q2 * q1')
vtkQuaternion<double> q1(lastWorldOrientation);
vtkQuaternion<double> q2(worldOrientation);
q1.Conjugate();
q2 = q2*q1;

// Convert from quaternion to angle-axis representation
double axis[4] = {0.0};
axis[0] = vtkMath::DegreesFromRadians(q2.GetRotationAngleAndAxis(axis+1));

// Apply the calculated relative orientation and translation vector to the
// interaction transform
vtkNew<vtkTransform> interactionTransform;
interactionTransform->PreMultiply();

// Step 1: Translate to the current world position
interactionTransform->Translate(worldPos[0], worldPos[1], worldPos[2]);

// Step 2: Apply relative rotation
interactionTransform->RotateWXYZ(axis[0], axis[1], axis[2], axis[3]);

// Step 3: Translate back to the origin
interactionTransform->Translate(-worldPos[0], -worldPos[1], -worldPos[2]);

// Step 4: Final translation based on the computed translation vector
interactionTransform->Translate(translation[0], translation[1], translation[2]);

// Make sure that the topmost parent transform is the VR interaction transform
Expand Down