fixed most ( still units error )

src/Vtk/vtkHandlerWidget.cpp

@@ -48,6 +48,8 @@
 #include <vtkRenderer.h>
 #include <vtkSmartPointer.h>
 #include <vtkTransform.h>
+#include "Math/Transform.h"
+#include "Vtk/Math/vtkDense.h"
 
 namespace uLib {
 namespace Vtk {
@@ -62,20 +64,23 @@ struct HandlerWidgetData {
   vtkSmartPointer<::vtkActor> m_RotCam;                     // Camera ring
   vtkSmartPointer<::vtkActor> m_ScaleX, m_ScaleY, m_ScaleZ; // Cubes
 
+  // cut plane to see only half of rotation handles
   vtkSmartPointer<::vtkPlane> m_ClipPlane;
 
+  // picker to select the gizmo
   vtkSmartPointer<::vtkCellPicker> m_Picker;
+
+  // initial transform of the object
   vtkSmartPointer<::vtkTransform> m_InitialTransform;
   
-  std::vector<vtkSmartPointer<::vtkTransform>> m_TransformChain;
-  vtkSmartPointer<::vtkMatrix4x4> m_BaseMatrix;
+  // undo stack
+  std::vector<uLib::TRS> m_UndoStack;
 
   HandlerWidgetData() {
     m_Picker = vtkSmartPointer<::vtkCellPicker>::New();
     m_InitialTransform = vtkSmartPointer<::vtkTransform>::New();
     m_ClipPlane = vtkSmartPointer<::vtkPlane>::New();
     m_OverlayRenderer = vtkSmartPointer<::vtkRenderer>::New();
-    m_BaseMatrix = vtkSmartPointer<::vtkMatrix4x4>::New();
     m_HighlightedProp = nullptr;
   }
 };
@@ -95,7 +100,6 @@ vtkHandlerWidget::vtkHandlerWidget() : d(new HandlerWidgetData()) {
   this->m_TranslationEnabled = true;
   this->m_RotationEnabled = true;
   this->m_ScalingEnabled = true;
-  d->m_BaseMatrix->Identity();
   this->CreateGizmos();
 }
 
@@ -108,19 +112,14 @@ vtkHandlerWidget::~vtkHandlerWidget() {
   return d->m_OverlayRenderer;
 }
 
+
 void vtkHandlerWidget::SetProp3D(::vtkProp3D *prop) {
   if (this->Prop3D == prop) {
     return;
   }
   this->Prop3D = prop;
   if (this->Prop3D) {
-    // Initialize d->m_BaseMatrix from the object's current matrix
-    if (this->Prop3D->GetUserMatrix()) {
-      this->d->m_BaseMatrix->DeepCopy(this->Prop3D->GetUserMatrix());
-    } else {
-      this->d->m_BaseMatrix->Identity();
-    }
-    this->d->m_TransformChain.clear(); // Clear any previous transform chain
+    this->d->m_UndoStack.clear(); // Clear history when selecting new object
     this->UpdateGizmoPosition();
   }
   this->Modified();
@@ -247,20 +246,19 @@ void vtkHandlerWidget::OnKeyPress() {
   bool ctrl = (this->Interactor->GetControlKey() != 0);
   
   if (ctrl && key == "z") {
-    if (!this->d->m_TransformChain.empty()) {
+    if (!this->d->m_UndoStack.empty()) {
       std::cout << "Undoing last transform action..." << std::endl;
-      this->d->m_TransformChain.pop_back();
+      uLib::TRS target = this->d->m_UndoStack.back();
+      this->d->m_UndoStack.pop_back();
       
-      // Update object from chain
-      vtkNew<vtkTransform> total;
-      total->PostMultiply();
-      total->SetMatrix(this->d->m_BaseMatrix.GetPointer());
-      for (auto& t : d->m_TransformChain) {
-        total->Concatenate(t);
-      }
-      
-      if (this->Prop3D && this->Prop3D->GetUserMatrix()) {
-        this->Prop3D->GetUserMatrix()->DeepCopy(total->GetMatrix());
+      if (this->Prop3D) {
+        this->Prop3D->SetPosition(target.position.x(), target.position.y(), target.position.z());
+        // Convert Model Radians to VTK Degrees
+        this->Prop3D->SetOrientation(target.rotation.x() / CLHEP::degree, 
+                                   target.rotation.y() / CLHEP::degree, 
+                                   target.rotation.z() / CLHEP::degree);
+        this->Prop3D->SetScale(target.scaling.x(), target.scaling.y(), target.scaling.z());
+        this->Prop3D->SetUserMatrix(nullptr);
         this->Prop3D->Modified();
         this->UpdateGizmoPosition();
         this->InvokeEvent(::vtkCommand::InteractionEvent, nullptr);
@@ -311,21 +309,12 @@ void vtkHandlerWidget::OnLeftButtonDown() {
     this->StartEventPosition[0] = X;
     this->StartEventPosition[1] = Y;
     if (this->Prop3D) {
-      if (!this->Prop3D->GetUserMatrix()) {
-          vtkNew<vtkMatrix4x4> vmat;
-          this->Prop3D->SetUserMatrix(vmat);
-      }
-      
-      // If the chain is empty, initialize base from current state?
-      // Actually, if we just started selecting this object, we should have initialized BaseMatrix.
-      // For now, let's keep d->m_InitialTransform as the state BEFORE this drag
-      vtkNew<vtkTransform> current;
-      current->PostMultiply();
-      current->SetMatrix(this->d->m_BaseMatrix.GetPointer());
-      for (auto& t : d->m_TransformChain) {
-        current->Concatenate(t);
-      }
-      this->d->m_InitialTransform->SetMatrix(current->GetMatrix());
+      // Capture current state for Undo
+      this->d->m_UndoStack.push_back(uLib::TRS(uLib::Vtk::VtkToMatrix4f(this->Prop3D->GetMatrix())));
+      if (this->d->m_UndoStack.size() > 50) this->d->m_UndoStack.erase(this->d->m_UndoStack.begin());
+
+      // Use the prop's total matrix for calculation baseline
+      this->d->m_InitialTransform->SetMatrix(this->Prop3D->GetMatrix());
     }
     this->EventCallbackCommand->SetAbortFlag(1);
     this->InvokeEvent(::vtkCommand::StartInteractionEvent, nullptr);
@@ -337,27 +326,6 @@ void vtkHandlerWidget::OnLeftButtonUp() {
   if (this->Interaction == IDLE)
     return;
 
-  // Finalize the current interaction into the chain
-  int X = this->Interactor->GetEventPosition()[0];
-  int Y = this->Interactor->GetEventPosition()[1];
-  
-  // We need to re-calculate the final 'op' to store it
-  // Actually, we could have stored it in OnMouseMove, but let's re-calculate or 
-  // just capture the delta between d->m_InitialTransform and current UserMatrix.
-  if (this->Prop3D && this->Prop3D->GetUserMatrix()) {
-      vtkNew<vtkMatrix4x4> inv;
-      vtkMatrix4x4::Invert(this->d->m_InitialTransform->GetMatrix(), inv);
-      
-      vtkNew<vtkMatrix4x4> final_op_mat;
-      vtkMatrix4x4::Multiply4x4(this->Prop3D->GetUserMatrix(), inv, final_op_mat);
-      
-      vtkNew<vtkTransform> final_op;
-      final_op->SetMatrix(final_op_mat);
-      
-      this->d->m_TransformChain.push_back(final_op);
-      std::cout << "Action finalized. Chain size: " << this->d->m_TransformChain.size() << std::endl;
-  }
-
   this->Interaction = IDLE;
   this->EventCallbackCommand->SetAbortFlag(1);
   this->InvokeEvent(::vtkCommand::EndInteractionEvent, nullptr);
@@ -578,9 +546,17 @@ void vtkHandlerWidget::OnMouseMove() {
   total->SetMatrix(this->d->m_InitialTransform->GetMatrix()); // d->m_InitialTransform is already Base*Chain
   total->Concatenate(op);
 
-  vtkMatrix4x4* targetMat = this->Prop3D->GetUserMatrix();
-  if (targetMat) {
-      targetMat->DeepCopy(total->GetMatrix());
+  if (this->Prop3D) {
+      double p[3], r[3], s[3];
+      total->GetPosition(p);
+      total->GetOrientation(r);
+      total->GetScale(s);
+      this->Prop3D->SetPosition(p);
+      // VTK GetOrientation already returned degrees, so r is in degrees.
+      // We apply it directly back to VTK.
+      this->Prop3D->SetOrientation(r);
+      this->Prop3D->SetScale(s);
+      this->Prop3D->SetUserMatrix(nullptr);
   }
   
   this->Prop3D->Modified();
@@ -671,7 +647,7 @@ void vtkHandlerWidget::SetTransform(::vtkTransform *t) {
 void vtkHandlerWidget::GetTransform(::vtkTransform *t) {
   if (!t || !this->Prop3D)
     return;
-  t->SetMatrix(this->Prop3D->GetUserMatrix());
+  t->SetMatrix(this->Prop3D->GetMatrix());
 }
 
 void vtkHandlerWidget::CreateGizmos() {