Method UpdatePropPose

Interaction/Widgets/vtkWidgetRepresentation.cxx:289–362

}

void vtkWidgetRepresentation::UpdatePropPose(vtkProp3D* prop3D, const double* pos1,
  const double* orient1, const double* pos2, const double* orient2)
{
  double trans[3];
  for (int i = 0; i < 3; i++)
  {
    trans[i] = pos2[i] - pos1[i];
  }

  vtkTransform* newTransform = this->TempTransform;
  if (prop3D->GetUserMatrix() != nullptr)
  {
    vtkTransform* t = newTransform;
    t->Identity();
    t->PostMultiply();
    t->Concatenate(prop3D->GetUserMatrix());
    t->Translate(trans);
    prop3D->GetUserMatrix()->DeepCopy(t->GetMatrix());
  }
  else
  {
    prop3D->AddPosition(trans);
  }

  // compute the net rotation
  vtkQuaternion<double> q1;
  q1.SetRotationAngleAndAxis(
    vtkMath::RadiansFromDegrees(orient1[0]), orient1[1], orient1[2], orient1[3]);
  vtkQuaternion<double> q2;
  q2.SetRotationAngleAndAxis(
    vtkMath::RadiansFromDegrees(orient2[0]), orient2[1], orient2[2], orient2[3]);
  q1.Conjugate();
  q2 = q2 * q1;
  double axis[4];
  axis[0] = vtkMath::DegreesFromRadians(q2.GetRotationAngleAndAxis(axis + 1));

  vtkMatrix4x4* oldMatrix = this->TempMatrix;
  prop3D->GetMatrix(oldMatrix);

  double orig[3];
  prop3D->GetOrigin(orig);

  newTransform->Identity();
  newTransform->PostMultiply();
  if (prop3D->GetUserMatrix() != nullptr)
  {
    newTransform->Concatenate(prop3D->GetUserMatrix());
  }
  else
  {
    newTransform->Concatenate(oldMatrix);
  }

  newTransform->Translate(-(pos1[0]), -(pos1[1]), -(pos1[2]));

  newTransform->RotateWXYZ(axis[0], axis[1], axis[2], axis[3]);

  newTransform->Translate(pos1[0], pos1[1], pos1[2]);