est

class CArcBall
{
protected:
	CVector3D start, end; // Start and End vector
	float width, height;  // Width and Height of the window

	void MapToSphere(int x, int y, CVector3D& v)
	{
		v.x=2*float(x)/width-1;
		v.y=-2*float(y)/height+1;
		float r2;
		 r2=v.x*v.x+v.y*v.y;
		 if(r2>1.0)
		{
			 float r=sqrt(r2);
			 v.x/=r;
			 v.y/=r;
			 v.z=0.0;}
		else
		{
			v.z=sqrt(1.0-r2);
		}
	}

public:
	void SetSize(int width0, int height0)
	{width=(float)width0; height=(float)height0;}

	void SetStartPoint(int x, int y) { MapToSphere(x, y, start); }
	void SetEndPoint(int x, int y) { MapToSphere(x, y, end); }

	void GetQuaternion(CQuaternion& quat) // Get rotation quaternion
	{
		quat.w=VectorDot(start,end);
		CVector3D p;
		p=VectorCross(start,end);
		quat.x=p.x;
		quat.y=p.y;
		quat.z=p.z;
	}
};

 

	CQuaternion q=arcball_quat*current_quat;
	CMatrix3D rot_mat;
	q.GetRotationMatrix(rot_mat);
	glMultMatrixf((float *)&rot_mat);

 

void mouse(int button, int state, int x, int y)
{
	if (button == GLUT_LEFT_BUTTON)
	{
		if (state == GLUT_DOWN)
		{
			rotation_mode=true;
			arc_ball.SetStartPoint(x, y);
		}
		else
		{
			rotation_mode=false;

			current_quat=arcball_quat*current_quat;
			arcball_quat.SetIdentity();
		}
	}
}

void mouse_motion(int x, int y)
{
	if (rotation_mode)
	{
		arc_ball.SetEndPoint(x, y);
		arc_ball.GetQuaternion(arcball_quat);
		glutPostRedisplay();
	}
}
i