Thank you soooooooooo much!!!
I was able to solve my problem because your reply.
I'm so happy!!
Thank you so much!!
============= for someone worry about same problem ===============
step1. create rotation matrix for PoseMatrix in renderFrameQCAR
QCAR::Matrix34F poseMatrix = trackable->getPose();
poseRotMatrix = GLKMatrix3Make(poseMatrix.data[0], poseMatrix.data[1], poseMatrix.data[2], poseMatrix.data[4], poseMatrix.data[5], poseMatrix.data[6], poseMatrix.data[8], poseMatrix.data[9], poseMatrix.data[10]);
step2. get rotation matrix for detected 3D object in touchesMoved
GLKVector3 locationVec3 = GLKVector3Make(location.x, location.y, 0);
GLKVector3 lastLocVec3 = GLKVector3Make(lastLoc.x, lastLoc.y, 0);
locationVec3 = GLKMatrix3MultiplyVector3(poseRotMatrix, locationVec3);
lastLocVec3 = GLKMatrix3MultiplyVector3(poseRotMatrix, lastLocVec3);
GLKVector3 diffVec3 = GLKVector3Make(lastLocVec3.x - locationVec3.x, lastLocVec3.y - locationVec3.y, lastLocVec3.z - locationVec3.z);
float rotX = GLKMathDegreesToRadians(diffVec3.x / 2.0);
float rotY = GLKMathDegreesToRadians(diffVec3.y / 2.0);
float rotZ = GLKMathDegreesToRadians(diffVec3.z / 2.0);
bool isInvertible;
GLKVector3 xAxis = GLKMatrix4MultiplyVector3(GLKMatrix4Invert(touchedObject.rotMatrix, &isInvertible), GLKVector3Make(1, 0, 0));
touchedObject.rotMatrix = GLKMatrix4Rotate(touchedObject.rotMatrix, rotX, xAxis.x, xAxis.y, xAxis.z);
GLKVector3 yAxis = GLKMatrix4MultiplyVector3(GLKMatrix4Invert(touchedObject.rotMatrix, &isInvertible), GLKVector3Make(0, 1, 0));
touchedObject.rotMatrix = GLKMatrix4Rotate(touchedObject.rotMatrix, rotY, yAxis.x, yAxis.y, yAxis.z);
GLKVector3 zAxis = GLKMatrix4MultiplyVector3(GLKMatrix4Invert(touchedObject.rotMatrix, &isInvertible), GLKVector3Make(0, 0, 1));
touchedObject.rotMatrix = GLKMatrix4Rotate(touchedObject.rotMatrix, rotZ, zAxis.x, zAxis.y, zAxis.z);
step3. adjust in renderFrameQCAR
ShaderUtils::multiplyMatrix(&modelViewMatrix.data[0], &detectedObject.rotMatrix.m[0], &modelViewMatrix.data[0]);
You're welcome - thanks for posting your solution!