Merge branch 'VirtualCouplingExampleUpdate' into 'master'

REFAC: Update the virtual coupling example to use a medically relevant object, getRotation renamed to getOrientation in TrackingDevice, inversions fixed, inversion tests added

See merge request !724

CMake/External/External_iMSTKData.cmake

@@ -16,7 +16,7 @@ set(copy_data_command
   )
 
 include(imstkAddExternalProject)
-set(GIT_SHA "577b7fda9634c0c4ebb2da46b5d1dcb0fda83a11")
+set(GIT_SHA "d4319557228d085ccb076e6f90661785997b7694")
 set(DATA_URL "https://gitlab.kitware.com/iMSTK/imstk-data/-/archive/${GIT_SHA}/imstk-data-${GIT_SHA}.zip")
 
 imstk_add_external_project( iMSTKData

Examples/CameraController/CameraControllerExample.cpp

@@ -140,7 +140,7 @@ main()
             [&](Event*)
         {
             const Vec3d pos = camController->getPosition();
-            const Quatd orientation = camController->getRotation();
+            const Quatd orientation = camController->getOrientation();
 
             light->setPosition(pos);
             light->setFocalPoint(pos - orientation.toRotationMatrix().col(2));

Examples/FemurCut/FemurCutExample.cpp

@@ -192,7 +192,7 @@ main()
 
             // Also apply controller transform to ghost geometry
             ghostMesh->setTranslation(controller->getPosition());
-            ghostMesh->setRotation(controller->getRotation());
+            ghostMesh->setRotation(controller->getOrientation());
             ghostMesh->updatePostTransformData();
             ghostMesh->postModified();
             });

Examples/PBD/PBDStaticSuture/pbdStaticSutureExample.cpp

@@ -285,7 +285,7 @@ main()
 
             // Transform the ghost tool to show the real tool location
             ghostClampsObj->getVisualGeometry()->setTransform(
-                mat4dTranslate(controller->getPosition()) * mat4dRotation(controller->getRotation()) *
+                mat4dTranslate(controller->getPosition()) * mat4dRotation(controller->getOrientation()) *
                 mat4dTranslate(clampOffset) *
                 mat4dRotation(Rotd(PI, Vec3d(0.0, 1.0, 0.0))));
             ghostClampsObj->getVisualGeometry()->updatePostTransformData();

Examples/PBD/PBDTissueSurfaceNeedleContact/PBDTissueSurfaceNeedleContactExample.cpp

@@ -387,7 +387,7 @@ main()
 
             // Also apply controller transform to ghost geometry
             toolGhostMesh->setTranslation(controller->getPosition());
-            toolGhostMesh->setRotation(controller->getRotation());
+            toolGhostMesh->setRotation(controller->getOrientation());
             toolGhostMesh->updatePostTransformData();
             toolGhostMesh->postModified();
             });

Examples/PBD/PBDTissueVolumeNeedleContact/PBDTissueVolumeNeedleContactExample.cpp

@@ -413,7 +413,7 @@ main()
         {
             // Update the ghost debug geometry
             std::shared_ptr<Geometry> toolGhostMesh = ghostToolObj->getVisualGeometry();
-            toolGhostMesh->setRotation(controller->getRotation());
+            toolGhostMesh->setRotation(controller->getOrientation());
             toolGhostMesh->setTranslation(controller->getPosition());
             toolGhostMesh->updatePostTransformData();
             toolGhostMesh->postModified();

Examples/RBD/RbdSDFPivotNeedle/RbdSDFPivotNeedleExample.cpp

@@ -212,7 +212,7 @@ main()
 
             // Update the ghost debug geometry
             std::shared_ptr<Geometry> toolGhostMesh = ghostToolObj->getVisualGeometry();
-            toolGhostMesh->setRotation(controller->getRotation());
+            toolGhostMesh->setRotation(controller->getOrientation());
             toolGhostMesh->setTranslation(controller->getPosition());
             toolGhostMesh->updatePostTransformData();
             toolGhostMesh->postModified();

Examples/VirtualCoupling/VirtualCouplingExample.cpp

@@ -24,11 +24,16 @@
 #include "imstkDirectionalLight.h"
 #include "imstkHapticDeviceClient.h"
 #include "imstkHapticDeviceManager.h"
+#include "imstkIsometricMap.h"
 #include "imstkKeyboardSceneControl.h"
+#include "imstkLineMesh.h"
+#include "imstkMeshIO.h"
 #include "imstkMouseSceneControl.h"
 #include "imstkNew.h"
+#include "imstkOrientedBox.h"
 #include "imstkPlane.h"
 #include "imstkRbdConstraint.h"
+#include "imstkRenderMaterial.h"
 #include "imstkRigidBodyModel2.h"
 #include "imstkRigidObject2.h"
 #include "imstkRigidObjectCollision.h"
@@ -36,9 +41,12 @@
 #include "imstkScene.h"
 #include "imstkSceneManager.h"
 #include "imstkSimulationManager.h"
-#include "imstkSphere.h"
+#include "imstkSurfaceMesh.h"
+#include "imstkVisualModel.h"
 #include "imstkVTKViewer.h"
 
+#include "imstkVTKRenderer.h"
+
 using namespace imstk;
 
 ///
@@ -53,49 +61,75 @@ main()
 
     // Setup haptics manager
     imstkNew<HapticDeviceManager>       hapticsManager;
-    const std::string                   deviceName = "";
-    std::shared_ptr<HapticDeviceClient> client     = hapticsManager->makeDeviceClient(deviceName);
+    std::shared_ptr<HapticDeviceClient> client = hapticsManager->makeDeviceClient();
 
     // Scene
     imstkNew<Scene> scene("VirtualCoupling");
 
-    // Create a plane in the scene to touch
-    imstkNew<Plane> plane(Vec3d(0.0, -50.0, 0.0), Vec3d(0.0, 1.0, 0.0));
-    plane->setWidth(400.0);
-    imstkNew<CollidingObject> planeObj("Plane");
-    planeObj->setVisualGeometry(plane);
-    planeObj->setCollidingGeometry(plane);
-    scene->addSceneObject(planeObj);
-
-    // Create a virtual coupling object
-    imstkNew<Sphere>          sphere(Vec3d(0.0, 0.0, 0.0), 20.0);
-    imstkNew<RigidObject2>    sphereObj("VirtualCouplingObject");
-    imstkNew<RigidBodyModel2> rbdModel;
-    rbdModel->getConfig()->m_dt      = 0.001;
-    rbdModel->getConfig()->m_gravity = Vec3d::Zero();
-    sphereObj->setDynamicalModel(rbdModel);
-    sphereObj->getRigidBody()->m_mass = 1.0;
-    sphereObj->setCollidingGeometry(sphere);
-    sphereObj->setVisualGeometry(sphere);
-    sphereObj->setPhysicsGeometry(sphere);
-    scene->addSceneObject(sphereObj);
+    std::shared_ptr<CollidingObject> obstacleObjs[] =
+    {
+        std::make_shared<CollidingObject>("Plane"),
+        std::make_shared<CollidingObject>("Cube")
+    };
+
+    // Create a plane and cube for collision with scissors
+    imstkNew<Plane> plane(Vec3d(0.0, -1.0, 0.0), Vec3d(0.0, 1.0, 0.0));
+    plane->setWidth(7.0);
+    obstacleObjs[0]->setVisualGeometry(plane);
+    obstacleObjs[0]->setCollidingGeometry(plane);
+
+    imstkNew<OrientedBox> cube(Vec3d(0.0, -1.0, 0.0), Vec3d(0.5, 0.5, 0.5), Quatd(Rotd(1.0, Vec3d(0.0, 1.0, 0.0))));
+    obstacleObjs[1]->setVisualGeometry(cube);
+    obstacleObjs[1]->setCollidingGeometry(cube);
+
+    for (int i = 0; i < 2; i++)
+    {
+        scene->addSceneObject(obstacleObjs[i]);
+    }
+
+    // The visual geometry is the scissor mesh read in from file
+
+    imstkNew<RigidObject2> rbdObj("rbdObj1");
+    {
+        imstkNew<RigidBodyModel2> rbdModel;
+        rbdModel->getConfig()->m_dt      = 0.001;
+        rbdModel->getConfig()->m_gravity = Vec3d::Zero();
+        rbdObj->setDynamicalModel(rbdModel);
+        rbdObj->getRigidBody()->m_mass = 0.5;
+        rbdObj->getRigidBody()->m_intertiaTensor = Mat3d::Identity() * 1000000.0;
+
+        auto surfMesh = MeshIO::read<SurfaceMesh>(iMSTK_DATA_ROOT "/Surgical Instruments/Scissors/Metzenbaum Scissors/Metz_Scissors.stl");
+        rbdObj->setCollidingGeometry(surfMesh);
+        rbdObj->setVisualGeometry(surfMesh);
+        rbdObj->setPhysicsGeometry(surfMesh);
+
+        std::shared_ptr<RenderMaterial> mat = rbdObj->getVisualModel(0)->getRenderMaterial();
+        mat->setShadingModel(RenderMaterial::ShadingModel::PBR);
+        mat->setRoughness(0.5);
+        mat->setMetalness(1.0);
+    }
+    scene->addSceneObject(rbdObj);
 
     // Create a virtual coupling controller
-    imstkNew<RigidObjectController> controller(sphereObj, client);
+    imstkNew<RigidObjectController> controller(rbdObj, client);
     controller->setLinearKs(10000.0);
     controller->setLinearKd(100.0);
-    controller->setAngularKs(0.0);
-    controller->setAngularKd(0.0);
-    controller->setForceScaling(0.00001);
+    controller->setAngularKs(1000000000.0);
+    controller->setAngularKd(300000000.0);
+    controller->setTranslationScaling(0.02);
+    controller->setForceScaling(0.001);
+    //controller->setInversionFlags(RigidObjectController::InvertFlag::rotY);
     scene->addController(controller);
 
     // Add interaction between the rigid object sphere and static plane
     scene->getCollisionGraph()->addInteraction(
-        std::make_shared<RigidObjectCollision>(sphereObj, planeObj, "UnidirectionalPlaneToSphereCD"));
+        std::make_shared<RigidObjectCollision>(rbdObj, obstacleObjs[0], "PointSetToPlaneCD"));
+    scene->getCollisionGraph()->addInteraction(
+        std::make_shared<RigidObjectCollision>(rbdObj, obstacleObjs[1], "PointSetToOrientedBoxCD"));
 
     // Camera
-    scene->getActiveCamera()->setPosition(Vec3d(0.0, 269.0, 295.0));
-    scene->getActiveCamera()->setFocalPoint(Vec3d(0.0, -20.0, 5.7));
+    scene->getActiveCamera()->setPosition(Vec3d(0.0, 5.0, 10.0));
+    scene->getActiveCamera()->setFocalPoint(Vec3d(0.0, -1.0, 0.0));
     scene->getActiveCamera()->setViewUp(Vec3d(0.0, 1.0, 0.0));
 
     // Light
@@ -120,11 +154,10 @@ main()
         driver->addModule(sceneManager);
         driver->setDesiredDt(0.001);
 
-        connect<Event>(sceneManager, &SceneManager::postUpdate,
-            [&](Event*)
+        connect<Event>(sceneManager, &SceneManager::postUpdate, [&](Event*)
         {
             // Run the rbd model in real time
-            rbdModel->getConfig()->m_dt = driver->getDt();
+            rbdObj->getRigidBodyModel2()->getConfig()->m_dt = driver->getDt();
             });
 
         // Add mouse and keyboard controls to the viewer

Source/Common/imstkMath.h

@@ -125,15 +125,6 @@ using RigidTransform3d = Eigen::Isometry3d;
 using AffineTransform3f = Eigen::Affine3f;
 using AffineTransform3d = Eigen::Affine3d;
 
-// Handy Cartesian vectors in 3d
-#define UP_VECTOR       Vec3d(0.0, 1.0, 0.0)
-#define DOWN_VECTOR     Vec3d(0, -1, 0)
-#define RIGHT_VECTOR    Vec3d(1, 0, 0)
-#define LEFT_VECTOR     Vec3d(-1, 0, 0)
-#define FORWARD_VECTOR  Vec3d(0, 0, -1)
-#define BACKWARD_VECTOR Vec3d(0, 0, 1)
-#define WORLD_ORIGIN    Vec3d::Zero()
-
 /// Some commonly used math constants
 #define PI               3.14159265358979323846
 #define PI_2             1.57079632679489661923

Source/Controllers/Testing/imstkTrackingDeviceControlTest.cpp

@@ -9,7 +9,7 @@
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at
 
-      http://www.apache.org/licenses/LICENSE-2.0.txt
+	  http://www.apache.org/licenses/LICENSE-2.0.txt
 
    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
@@ -79,7 +79,7 @@ TEST_F(TrackingDeviceControlTest, Basics)
     control.updateTrackingData(0.0);
 
     EXPECT_TRUE(pos.isApprox(control.getPosition()));
-    EXPECT_TRUE(rot.isApprox(control.getRotation()));
+    EXPECT_TRUE(rot.isApprox(control.getOrientation()));
 }
 
 TEST_F(TrackingDeviceControlTest, EndEffector)
@@ -98,17 +98,20 @@ TEST_F(TrackingDeviceControlTest, EndEffector)
 
     auto expected = offset * rot;
 
-    EXPECT_TRUE(pos.isApprox(control.getPosition())) << "Expected: " << pos.transpose() << " Actual: " << control.getPosition();
-    EXPECT_TRUE(expected.isApprox(control.getRotation())) << "Expected: " << expected.coeffs().transpose() << " Actual: " << control.getRotation().coeffs().transpose();
+    EXPECT_TRUE(pos.isApprox(control.getPosition()))
+        << "Expected: " << pos.transpose()
+        << " Actual: " << control.getPosition();
+    EXPECT_TRUE(expected.isApprox(control.getOrientation()))
+        << "Expected: " << expected.coeffs().transpose()
+        << " Actual: " << control.getOrientation().coeffs().transpose();
 }
 
 TEST_F(TrackingDeviceControlTest, InvertTranslation)
 {
-    unsigned char flags = static_cast<unsigned char>(TrackingDeviceControl::InvertFlag::transX) |
-                          static_cast<unsigned char>(TrackingDeviceControl::InvertFlag::transY) |
-                          static_cast<unsigned char>(TrackingDeviceControl::InvertFlag::transZ);
-
-    control.setInversionFlags(flags);
+    control.setInversionFlags(
+            TrackingDeviceControl::InvertFlag::transX |
+            TrackingDeviceControl::InvertFlag::transY |
+            TrackingDeviceControl::InvertFlag::transZ);
 
     auto pos = Vec3d(1.0, 2.0, 3.0);
     auto rot = Quatd(4.0, 5.0, 6.0, 7.0).normalized();
@@ -118,8 +121,55 @@ TEST_F(TrackingDeviceControlTest, InvertTranslation)
 
     control.updateTrackingData(0.0);
 
-    EXPECT_TRUE((pos * -1.0).isApprox(control.getPosition())) << "Expected: " << (pos * -1).transpose() << " Actual: " << control.getPosition().transpose();
-    EXPECT_TRUE(rot.isApprox(control.getRotation())) << "Expected: " << rot.coeffs().transpose() << " Actual: " << control.getRotation().coeffs().transpose();
+    EXPECT_TRUE((pos * -1.0).isApprox(control.getPosition()))
+            << "Expected: " << (pos * -1).transpose() << " Actual: " << control.getPosition().transpose();
+    EXPECT_TRUE(rot.isApprox(control.getOrientation()))
+            << "Expected: " << rot.coeffs().transpose() << " Actual: " << control.getOrientation().coeffs().transpose();
+}
+
+TEST_F(TrackingDeviceControlTest, InvertOrientation)
+{
+    // For reference: iMSTK uses OpenGL which uses right handed system
+    // +y
+    // |  -z
+    // | /
+    // +-----> +x
+
+    Vec3d                             dir[] = { Vec3d(1.0, 0.0, 0.0), Vec3d(0.0, 1.0, 0.0), Vec3d(0.0, 0.0, 1.0) };
+    TrackingDeviceControl::InvertFlag invertFlags[] =
+    {
+        TrackingDeviceControl::InvertFlag::rotX,
+        TrackingDeviceControl::InvertFlag::rotY,
+        TrackingDeviceControl::InvertFlag::rotZ
+        };
+
+    // Inverts for rotations happen on a plane so invert X will flip Y & Z rotations.
+    for (int i = 0; i < 3; i++)
+    {
+        // 45 deg rotation around one of the axes that is not this one (i+1)%3
+        Quatd orientation = Quatd(Rotd(PI_2 * 0.5, dir[(i + 1) % 3]));
+
+        client->setPosition(Vec3d(0.0, 0.0, 0.0));
+        client->setOrientation(orientation);
+
+        // Flip over dir
+        control.setInversionFlags(invertFlags[i]);
+        control.updateTrackingData(0.0);
+
+        // Position should remain untouched
+        EXPECT_TRUE(Vec3d(0.0, 0.0, 0.0).isApprox(control.getPosition()))
+            << "Direction: " << dir[i].transpose() << std::endl
+            << "Expected: " << Vec3d(0.0, 0.0, 0.0).transpose() << std::endl
+            << "Actual: " << control.getPosition().transpose();
+
+        // Expected
+        Quatd expectedOrientation = Quatd(Rotd(-PI_2 * 0.5, dir[(i + 1) % 3]));
+        Quatd actualOrientation   = control.getOrientation();
+        EXPECT_TRUE(expectedOrientation.isApprox(actualOrientation))
+            << "Direction: " << dir[i].transpose() << std::endl
+            << "Expected: " << expectedOrientation << std::endl
+            << "Actual: " << actualOrientation;
+    }
 }
 
 TEST_F(TrackingDeviceControlTest, TranslationOffset)
@@ -138,7 +188,9 @@ TEST_F(TrackingDeviceControlTest, TranslationOffset)
     Vec3d expectedPos = pos + offset;
     Quatd expectedRot = rot;
     EXPECT_TRUE(expectedPos.isApprox(control.getPosition()))
-        << "Expected: " << expectedPos.transpose() << " Actual: " << control.getPosition();
-    EXPECT_TRUE(expectedRot.isApprox(control.getRotation()))
-        << "Expected: " << expectedRot.coeffs().transpose() << " Actual: " << control.getRotation().coeffs().transpose();
-}
+        << "Expected: " << expectedPos.transpose()
+        << " Actual: " << control.getPosition();
+    EXPECT_TRUE(expectedRot.isApprox(control.getOrientation()))
+        << "Expected: " << expectedRot.coeffs().transpose()
+        << " Actual: " << control.getOrientation().coeffs().transpose();
+}
\ No newline at end of file

Source/Controllers/imstkCameraController.cpp

@@ -45,7 +45,7 @@ CameraController::update(const double dt)
     }
 
     Vec3d p = getPosition();
-    Quatd r = getRotation();
+    Quatd r = getOrientation();
 
     // Apply Offsets over the device pose
     p  = p + m_translationOffset;   // Offset the device position
@@ -53,8 +53,8 @@ CameraController::update(const double dt)
 
     // Set camera info
     m_camera->setPosition(p);
-    m_camera->setFocalPoint((r * FORWARD_VECTOR) + p);
-    m_camera->setViewUp(r * UP_VECTOR);
+    m_camera->setFocalPoint((r * Vec3d(0.0, 0.0, -1.0)) + p);
+    m_camera->setViewUp(r * Vec3d(0.0, 1.0, 0.0));
 }
 
 void

Source/Controllers/imstkLaparoscopicToolController.cpp

@@ -63,7 +63,7 @@ LaparoscopicToolController::update(const double dt)
     }
 
     const Vec3d controllerPosition    = getPosition();
-    const Quatd controllerOrientation = getRotation();
+    const Quatd controllerOrientation = getOrientation();
 
     // Controller transform
     m_controllerWorldTransform = mat4dTranslate(controllerPosition) * mat4dRotation(controllerOrientation);

Source/Controllers/imstkRigidObjectController.cpp

@@ -72,7 +72,7 @@ RigidObjectController::update(const double dt)
         Vec3d&       currTorque = *m_rigidObject->getRigidBody()->m_torque;
 
         const Vec3d& devicePos = getPosition();
-        const Quatd& deviceOrientation = getRotation();
+        const Quatd& deviceOrientation = getOrientation();
         //const Vec3d& deviceVelocity        = getVelocity();
         //const Vec3d& deviceAngularVelocity = getAngularVelocity();
         const Vec3d& deviceOffset = Vec3d(0.0, 0.0, 0.0);
@@ -114,7 +114,7 @@ RigidObjectController::update(const double dt)
         *m_rigidObject->getRigidBody()->m_torque = Vec3d(0.0, 0.0, 0.0);
         // Directly set position/rotation
         (*m_rigidObject->getRigidBody()->m_pos) = getPosition();
-        (*m_rigidObject->getRigidBody()->m_orientation) = getRotation();
+        (*m_rigidObject->getRigidBody()->m_orientation) = getOrientation();
     }
 
     this->postEvent(Event(RigidObjectController::modified()));

Source/Controllers/imstkSceneObjectController.cpp

@@ -61,7 +61,7 @@ SceneObjectController::update(const double dt)
     // Update geometry
     // \todo revisit this; what if we need to move a group of objects
     m_sceneObject->getMasterGeometry()->setTranslation(getPosition());
-    m_sceneObject->getMasterGeometry()->setRotation(getRotation());
+    m_sceneObject->getMasterGeometry()->setRotation(getOrientation());
     m_sceneObject->getMasterGeometry()->postModified();
 }
 }
\ No newline at end of file

Source/Controllers/imstkTrackingDeviceControl.cpp

@@ -27,14 +27,14 @@
 namespace imstk
 {
 TrackingDeviceControl::TrackingDeviceControl() :
-    m_translationOffset(WORLD_ORIGIN),
+    m_translationOffset(Vec3d::Zero()),
     m_rotationOffset(Quatd::Identity())
 {
 }
 
 TrackingDeviceControl::TrackingDeviceControl(std::shared_ptr<DeviceClient> device) :
     DeviceControl(device),
-    m_translationOffset(WORLD_ORIGIN),
+    m_translationOffset(Vec3d::Zero()),
     m_rotationOffset(Quatd::Identity())
 {
 }
@@ -77,17 +77,20 @@ TrackingDeviceControl::updateTrackingData(const double dt)
     }
     if (m_invertFlags & InvertFlag::rotX)
     {
-        m_currentOrientation.x()    = -m_currentOrientation.x();
+        m_currentOrientation.y()    = -m_currentOrientation.y();
+        m_currentOrientation.z()    = -m_currentOrientation.z();
         m_currentAngularVelocity[0] = -m_currentAngularVelocity[0];
     }
     if (m_invertFlags & InvertFlag::rotY)
     {
-        m_currentOrientation.y()    = -m_currentOrientation.y();
+        m_currentOrientation.x()    = -m_currentOrientation.x();
+        m_currentOrientation.z()    = -m_currentOrientation.z();
         m_currentAngularVelocity[1] = -m_currentAngularVelocity[1];
     }
     if (m_invertFlags & InvertFlag::rotZ)
     {
-        m_currentOrientation.z()    = -m_currentOrientation.z();
+        m_currentOrientation.x()    = -m_currentOrientation.x();
+        m_currentOrientation.y()    = -m_currentOrientation.y();
         m_currentAngularVelocity[2] = -m_currentAngularVelocity[2];
     }
 
@@ -152,13 +155,13 @@ TrackingDeviceControl::setPosition(const Vec3d& pos)
 }
 
 const imstk::Quatd&
-TrackingDeviceControl::getRotation() const
+TrackingDeviceControl::getOrientation() const
 {
     return m_currentOrientation;
 }
 
 void
-TrackingDeviceControl::setRotation(const Quatd& orientation)
+TrackingDeviceControl::setOrientation(const Quatd& orientation)
 {
     this->m_currentOrientation = orientation;
 }

Source/Controllers/imstkTrackingDeviceControl.h

@@ -80,8 +80,8 @@ public:
     ///
     /// \brief Set/Get the orientation of the tracker
     ///@{
-    const Quatd& getRotation() const;;
-    void setRotation(const Quatd& orientation);
+    const Quatd& getOrientation() const;;
+    void setOrientation(const Quatd& orientation);
     ///@}
 
     ///

Source/SceneEntities/Camera/imstkCamera.h

@@ -258,8 +258,8 @@ protected:
 
 protected:
     // Lookat camera parameters
-    Vec3d m_position   = Vec3d(0, 2, 5); ///> camera position
-    Vec3d m_focalPoint = WORLD_ORIGIN;   ///> camera focal point
-    Vec3d m_viewUp     = UP_VECTOR;      ///> camera up vector
+    Vec3d m_position   = Vec3d(0.0, 2.0, 5.0); ///> camera position
+    Vec3d m_focalPoint = Vec3d::Zero();        ///> camera focal point
+    Vec3d m_viewUp     = Vec3d::UnitY(); ///> camera up vector
 };
 }

Source/Wrappers/SwigInterface/common.i

@@ -236,6 +236,7 @@ public:
     imstkQuatf(float x, float y, float z, float w) : m_data(w, x, y, z) { }
     inline const EigenData& get() const { return m_data; }
 
+    inline imstk::Mat3f toRotationMatrix() { return m_data.toRotationMatrix(); }
     inline float x() const { return m_data.x(); }
     inline float y() const { return m_data.y(); }
     inline float z() const { return m_data.z(); }
@@ -254,6 +255,7 @@ public:
     imstkQuatd(double x, double y, double z, double w) : m_data(w, x, y, z) { }
     inline const EigenData& get() const { return m_data; }
 
+    inline imstk::Mat3d toRotationMatrix() { return m_data.toRotationMatrix(); }
     inline double x() const { return m_data.x(); }
     inline double y() const { return m_data.y(); }
     inline double z() const { return m_data.z(); }