Fix order of arguments for rotation functions.

example-app/examplescene.cpp

@@ -13,8 +13,8 @@ using namespace Qtk;
 
 ExampleScene::ExampleScene(Qtk::Scene * scene) : Qtk::SceneInterface(scene) {
   setSceneName("Example Scene");
-  getCamera().getTransform().setTranslation(-8.0f, 0.0f, 10.0f);
+  getCamera().setTranslation({-8.0f, 0.0f, 10.0f});
-  getCamera().getTransform().setRotation(-5.0f, 0.0f, 1.0f, 0.0f);
+  getCamera().setRotation(0.0f, 1.0f, 0.0f, -5.0f);
 }
 
 ExampleScene::~ExampleScene() {}
@@ -64,10 +64,10 @@ void ExampleScene::update() {
   // Pitch forward and roll sideways
   MeshRenderer::getInstance("leftTriangle")
       ->getTransform()
-      .rotate(0.75f, 1.0f, 0.0f, 0.0f);
+      .rotate(1.0f, 0.0f, 0.0f, 0.75f);
   MeshRenderer::getInstance("rightTriangle")
       ->getTransform()
-      .rotate(0.75f, 0.0f, 0.0f, 1.0f);
+      .rotate(0.0f, 0.0f, 1.0f, 0.75f);
 
   static float translateX = 0.025f;
   float limit = -9.0f;  // Origin position.x - 2.0f
@@ -86,12 +86,12 @@ void ExampleScene::update() {
       .translate(-translateX, 0.0f, 0.0f);
   MeshRenderer::getInstance("topTriangle")
       ->getTransform()
-      .rotate(0.75f, 0.2f, 0.0f, 0.4f);
+      .rotate(0.2f, 0.0f, 0.4f, 0.75f);
   MeshRenderer::getInstance("bottomTriangle")
       ->getTransform()
-      .rotate(0.75f, 0.0f, 0.2f, 0.4f);
+      .rotate(0.0f, 0.2f, 0.4f, 0.75f);
 
   MeshRenderer::getInstance("centerCube")
       ->getTransform()
-      .rotate(0.75f, 0.2f, 0.4f, 0.6f);
+      .rotate(0.2f, 0.4f, 0.6f, 0.75f);
 }

src/app/qtkscene.cpp

@@ -16,8 +16,9 @@ using namespace Qtk;
 
 QtkScene::QtkScene(Qtk::Scene * scene) : Qtk::SceneInterface(scene) {
   setSceneName("Qtk Scene");
-  getCamera().getTransform().setTranslation(0.0f, 0.0f, 20.0f);
+  getCamera().setTranslation({0.0f, 0.0f, 20.0f});
-  getCamera().getTransform().setRotation(-5.0f, 0.0f, 1.0f, 0.0f);
+  getCamera().setRotation(
+      QQuaternion::fromAxisAndAngle(0.0f, 1.0f, 0.0f, -5.0f));
 }
 
 QtkScene::~QtkScene() {
@@ -89,7 +90,7 @@ void QtkScene::init() {
   model->getTransform().setTranslation(2.0f, 2.0f, -10.0f);
   // Sometimes the models are very large
   model->getTransform().scale(0.0025f);
-  model->getTransform().rotate(-110.0f, 0.0f, 1.0f, 0.0f);
+  model->getTransform().rotate(0.0f, 1.0f, 0.0f, -110.0f);
 
   model = addObject(
       new Qtk::Model("alien", ":/models/models/alien-hominid/alien.obj"));
@@ -99,8 +100,8 @@ void QtkScene::init() {
   model = addObject(
       new Qtk::Model("My scythe", ":/models/models/scythe/scythe.obj"));
   model->getTransform().setTranslation(-6.0f, 0.0f, -10.0f);
-  model->getTransform().rotate(-90.0f, 1.0f, 0.0f, 0.0f);
+  model->getTransform().rotate(1.0f, 0.0f, 0.0f, -90.0f);
-  model->getTransform().rotate(90.0f, 0.0f, 1.0f, 0.0f);
+  model->getTransform().rotate(0.0f, 1.0f, 0.0f, 90.0f);
 
   model = addObject(
       new Qtk::Model("masterChief", ":/models/models/spartan/spartan.obj"));
@@ -331,14 +332,14 @@ void QtkScene::init() {
   mesh->reallocateNormals(mesh->getNormals());
   mesh->reallocateTexCoords(mesh->getTexCoords(), 3);
   mesh->releaseShaders();
-  mesh->getTransform().rotate(45.0f, 0.0f, 1.0f, 0.0f);
+  mesh->getTransform().rotate(0.0f, 1.0f, 0.0f, 45.0f);
 
   // Texturing a cube using a cube map
   // + Cube map texturing works with both QTK_DRAW_ARRAYS and QTK_DRAW_ELEMENTS
   mesh =
       addObject(new Qtk::MeshRenderer("testCubeMap", Cube(QTK_DRAW_ELEMENTS)));
   mesh->getTransform().setTranslation(-3.0f, 1.0f, -2.0f);
-  mesh->getTransform().setRotation(45.0f, 0.0f, 1.0f, 0.0f);
+  mesh->getTransform().setRotation(0.0f, 1.0f, 0.0f, 45.0f);
   mesh->setShaders(
       ":/shaders/texture-cubemap.vert", ":/shaders/texture-cubemap.frag");
   mesh->setCubeMap(":/textures/crate.png");
@@ -439,10 +440,10 @@ void QtkScene::draw() {
 
 void QtkScene::update() {
   auto mySpartan = Model::getInstance("My spartan");
-  mySpartan->getTransform().rotate(0.75f, 0.0f, 1.0f, 0.0f);
+  mySpartan->getTransform().rotate(0.0f, 1.0f, 0.0f, 0.75f);
 
   auto myCube = MeshRenderer::getInstance("My cube");
-  myCube->getTransform().rotate(-0.75f, 0.0f, 1.0f, 0.0f);
+  myCube->getTransform().rotate(-0.0f, 1.0f, 0.0f, 0.75f);
 
   auto position = MeshRenderer::getInstance("alienTestLight")
                       ->getTransform()
@@ -456,7 +457,7 @@ void QtkScene::update() {
   alien->setUniform("uMVP.model", posMatrix);
   alien->setUniform("uMVP.view", QtkScene::getCamera().toMatrix());
   alien->setUniform("uMVP.projection", QtkScene::getProjectionMatrix());
-  alien->getTransform().rotate(0.75f, 0.0f, 1.0f, 0.0f);
+  alien->getTransform().rotate(0.0f, 1.0f, 0.0f, 0.75f);
 
   position = MeshRenderer::getInstance("spartanTestLight")
                  ->getTransform()
@@ -470,10 +471,10 @@ void QtkScene::update() {
   spartan->setUniform("uMVP.model", posMatrix);
   spartan->setUniform("uMVP.view", QtkScene::getCamera().toMatrix());
   spartan->setUniform("uMVP.projection", QtkScene::getProjectionMatrix());
-  spartan->getTransform().rotate(0.75f, 0.0f, 1.0f, 0.0f);
+  spartan->getTransform().rotate(0.0f, 1.0f, 0.0f, 0.75f);
 
   auto phong = MeshRenderer::getInstance("testPhong");
-  phong->getTransform().rotate(0.75f, 1.0f, 0.5f, 0.0f);
+  phong->getTransform().rotate(1.0f, 0.5f, 0.0f, 0.75f);
   phong->bindShaders();
   position =
       MeshRenderer::getInstance("testLight")->getTransform().getTranslation();
@@ -488,27 +489,27 @@ void QtkScene::update() {
   phong->releaseShaders();
 
   // Rotate lighting example cubes
-  mTestPhong->getTransform().rotate(0.75f, 0.5f, 0.3f, 0.2f);
+  mTestPhong->getTransform().rotate(0.5f, 0.3f, 0.2f, 0.75f);
   MeshRenderer::getInstance("noLight")->getTransform().rotate(
-      0.75f, 0.5f, 0.3f, 0.2f);
+      0.5f, 0.3f, 0.2f, 0.75f);
-  mTestAmbient->getTransform().rotate(0.75f, 0.5f, 0.3f, 0.2f);
+  mTestAmbient->getTransform().rotate(0.5f, 0.3f, 0.2f, 0.75f);
-  mTestDiffuse->getTransform().rotate(0.75f, 0.5f, 0.3f, 0.2f);
+  mTestDiffuse->getTransform().rotate(0.5f, 0.3f, 0.2f, 0.75f);
-  mTestSpecular->getTransform().rotate(0.75f, 0.5f, 0.3f, 0.2f);
+  mTestSpecular->getTransform().rotate(0.5f, 0.3f, 0.2f, 0.75f);
 
   // Examples of various translations and rotations
 
   // Rotate in multiple directions simultaneously
   MeshRenderer::getInstance("rgbNormalsCube")
       ->getTransform()
-      .rotate(0.75f, 0.2f, 0.4f, 0.6f);
+      .rotate(0.2f, 0.4f, 0.6f, 0.75f);
 
   // Pitch forward and roll sideways
   MeshRenderer::getInstance("leftTriangle")
       ->getTransform()
-      .rotate(0.75f, 1.0f, 0.0f, 0.0f);
+      .rotate(1.0f, 0.0f, 0.0f, 0.75f);
   MeshRenderer::getInstance("rightTriangle")
       ->getTransform()
-      .rotate(0.75f, 0.0f, 0.0f, 1.0f);
+      .rotate(0.0f, 0.0f, 1.0f, 0.75f);
 
   // Move between two positions over time
   static float translateX = 0.025f;
@@ -529,15 +530,15 @@ void QtkScene::update() {
   // And lets rotate the triangles in two directions at once
   MeshRenderer::getInstance("topTriangle")
       ->getTransform()
-      .rotate(0.75f, 0.2f, 0.0f, 0.4f);
+      .rotate(0.2f, 0.0f, 0.4f, 0.75f);
   MeshRenderer::getInstance("bottomTriangle")
       ->getTransform()
-      .rotate(0.75f, 0.0f, 0.2f, 0.4f);
+      .rotate(0.0f, 0.2f, 0.4f, 0.75f);
   // And make the bottom triangle green, instead of RGB
 
   // Rotate center cube in several directions simultaneously
   // + Not subject to gimbal lock since we are using quaternions :)
   MeshRenderer::getInstance("centerCube")
       ->getTransform()
-      .rotate(0.75f, 0.2f, 0.4f, 0.6f);
+      .rotate(0.2f, 0.4f, 0.6f, 0.75f);
 }

src/app/qtkwidget.cpp

@@ -10,11 +10,6 @@
 #include <QMimeData>
 #include <QVBoxLayout>
 
-#include <qtk/input.h>
-#include <qtk/scene.h>
-#include <qtk/shape.h>
-#include <QVBoxLayout>
-
 #include <qtk/input.h>
 #include <qtk/scene.h>
 #include <qtk/shape.h>
@@ -294,10 +289,10 @@ void QtkWidget::updateCameraInput() {
     static const float rotSpeed = 0.5f;
 
     // Handle rotations
-    Scene::getCamera().getTransform().rotate(
+    Scene::getCamera().rotate(QQuaternion::fromAxisAndAngle(
-        -rotSpeed * Input::mouseDelta().x(), Camera3D::LocalUp);
+        Camera3D::LocalUp, -rotSpeed * Input::mouseDelta().x()));
-    Scene::getCamera().getTransform().rotate(
+    Scene::getCamera().rotate(QQuaternion::fromAxisAndAngle(
-        -rotSpeed * Input::mouseDelta().y(), Scene::getCamera().getRight());
+        Scene::getCamera().getRight(), -rotSpeed * Input::mouseDelta().y()));
 
     // Handle translations
     QVector3D translation;
@@ -319,7 +314,7 @@ void QtkWidget::updateCameraInput() {
     if(Input::keyPressed(Qt::Key_E)) {
       translation += Scene::getCamera().getUp() / 2.0f;
     }
-    Scene::getCamera().getTransform().translate(transSpeed * translation);
+    Scene::getCamera().translate(transSpeed * translation);
   }
 }
 

src/app/treeview.cpp

@@ -46,7 +46,6 @@ void Qtk::TreeView::updateView(const Qtk::Scene * scene) {
 void Qtk::TreeView::itemFocus(QTreeWidgetItem * item, int column) {
   QString name = item->text(column);
   auto scene = MainWindow::getMainWindow()->getQtkWidget()->getScene();
-  auto & transform = scene->getCamera().getTransform();
   auto object = scene->getObject(name);
   Transform3D * objectTransform;
   // If the object is a mesh or model, focus the camera on it.
@@ -59,13 +58,11 @@ void Qtk::TreeView::itemFocus(QTreeWidgetItem * item, int column) {
     objectTransform = &dynamic_cast<Model *>(object)->getTransform();
   }
   auto focusScale = objectTransform->getScale();
-  float width = focusScale.x() / 2.0f;
   float height = focusScale.y() / 2.0f;
   QVector3D pos = objectTransform->getTranslation();
-  // pos.setX(pos.x() + width);
   pos.setY(pos.y() + height);
-  transform.setTranslation(pos);
+  Qtk::Scene::getCamera().setTranslation(pos);
-  transform.translate(0.0f, 0.0f, 3.0f);
+  Qtk::Scene::getCamera().translate({0.0f, 0.0f, 3.0f});
 
   // Emit signal from qtk widget for new object focus. Triggers GUI updates.
   emit MainWindow::getMainWindow()->getQtkWidget()->objectFocusChanged(name);

src/qtk/camera3d.h

@@ -32,7 +32,9 @@ namespace Qtk {
       /**
        * @return Transform3D associated with this camera.
        */
-      inline Transform3D & getTransform() { return mTransform; }
+      [[nodiscard]] inline const Transform3D & getTransform() const {
+        return mTransform;
+      }
 
       /**
        * @return Current translation of the camera as a QVector3D.
@@ -78,6 +80,67 @@ namespace Qtk {
        */
       const QMatrix4x4 & toMatrix();
 
+      /**
+       * Set the translation for this camera.
+       * TODO: Replace these methods by inheriting from a base class.
+       *
+       * @param translation QVector3D for the new translation.
+       */
+      inline void setTranslation(const QVector3D & translation) {
+        mTransform.setTranslation(translation);
+      }
+
+      /**
+       * Set the rotation for this camera.
+       *
+       * @param rotation QQuaternion for the new rotation.
+       */
+      inline void setRotation(const QQuaternion & rotation) {
+        mTransform.setRotation(rotation);
+      }
+
+      /**
+       * Sets a rotation upon an axis represented by the 3D vector (x, y, z)
+       *
+       * @param ax X axis to set angle for.
+       * @param ay Y axis to set angle for.
+       * @param az Z axis to set angle for.
+       * @param angle Angle to set rotation.
+       */
+      inline void setRotation(float ax, float ay, float az, float angle) {
+        mTransform.setRotation(ax, ay, az, angle);
+      }
+
+      /**
+       * Translate the camera by the given position.
+       *
+       * @param position QVector3D for the position to translate by.
+       */
+      inline void translate(const QVector3D & position) {
+        mTransform.translate(position);
+      }
+
+      /**
+       * Rotate the camera by the given rotation.
+       *
+       * @param rotation QQaternion for the rotation to apply.
+       */
+      inline void rotate(const QQuaternion & rotation) {
+        mTransform.rotate(rotation);
+      }
+
+      /**
+       * Sets a rotation upon an axis represented by the 3D vector (x, y, z)
+       *
+       * @param ax X axis to set angle for.
+       * @param ay Y axis to set angle for.
+       * @param az Z axis to set angle for.
+       * @param angle Angle to set rotation.
+       */
+      inline void rotate(float ax, float ay, float az, float angle) {
+        mTransform.rotate(ax, ay, az, angle);
+      }
+
     private:
       /*************************************************************************
        * Private Methods

src/qtk/scene.cpp

@@ -19,8 +19,8 @@ QMatrix4x4 Scene::mProjection;
  ******************************************************************************/
 
 Scene::Scene() : mSceneName("Default Scene") {
-  mCamera.getTransform().setTranslation(0.0f, 0.0f, 20.0f);
+  mCamera.setTranslation({0.0f, 0.0f, 20.0f});
-  mCamera.getTransform().setRotation(-5.0f, 0.0f, 1.0f, 0.0f);
+  mCamera.setRotation({-5.0f, 0.0f, 1.0f, 0.0f});
 }
 
 Scene::~Scene() {

src/qtk/transform3D.h

@@ -116,12 +116,12 @@ namespace Qtk {
       /**
        * Apply rotation upon an axis represented by the 3D vector (x, y, z)
        *
-       * @param angle Angle to rotate.
        * @param ax X axis to apply the rotation on.
        * @param ay Y axis to apply the rotation on.
        * @param az Z axis to apply the rotation on.
+       * @param angle Angle to rotate.
        */
-      inline void rotate(float angle, float ax, float ay, float az) {
+      inline void rotate(float ax, float ay, float az, float angle) {
         rotate(QQuaternion::fromAxisAndAngle(ax, ay, az, angle));
       }
 
@@ -178,12 +178,12 @@ namespace Qtk {
       /**
        * Sets a rotation upon an axis represented by the 3D vector (x, y, z)
        *
-       * @param angle Angle to set rotation.
        * @param ax X axis to set angle for.
        * @param ay Y axis to set angle for.
        * @param az Z axis to set angle for.
+       * @param angle Angle to set rotation.
        */
-      inline void setRotation(float angle, float ax, float ay, float az) {
+      inline void setRotation(float ax, float ay, float az, float angle) {
         setRotation(QQuaternion::fromAxisAndAngle(ax, ay, az, angle));
       }