7006df5f
 David Mayerich
reformat of direc...
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#include <rts/math/vector.h>
#include <rts/math/point.h>
#include <rts/math/quaternion.h>
#include <rts/math/matrix.h>
#include <ostream>
#ifndef RTS_CAMERA_H
#define RTS_CAMERA_H
namespace rts{
class camera
{
vector<float, 3> d; //direction that the camera is pointing
point<float, 3> p; //position of the camera
vector<float, 3> up; //"up" direction
float focus; //focal length of the camera
float fov;
//private function makes sure that the up vector is orthogonal to the direction vector and both are normalized
void stabalize()
{
vector<float, 3> side = up.cross(d);
up = d.cross(side);
up = up.norm();
d = d.norm();
}
public:
void setPosition(point<float, 3> pos)
{
p = pos;
}
void setPosition(float x, float y, float z){setPosition(point<float, 3>(x, y, z));}
void setFocalDistance(float distance){focus = distance;}
void setFOV(float field_of_view){fov = field_of_view;}
void LookAt(point<float, 3> pos)
{
//find the new direction
d = pos - p;
//find the distance from the look-at point to the current position
focus = d.len();
//stabalize the camera
stabalize();
}
void LookAt(float px, float py, float pz){LookAt(point<float, 3>(px, py, pz));}
void LookAt(point<float, 3> pos, vector<float, 3> new_up){up = new_up; LookAt(pos);}
void LookAt(float px, float py, float pz, float ux, float uy, float uz){LookAt(point<float, 3>(px, py, pz), vector<float, 3>(ux, uy, uz));}
void LookAtDolly(float lx, float ly, float lz)
{
//find the current focus point
point<float, 3> f = p + focus*d;
vector<float, 3> T = point<float, 3>(lx, ly, lz) - f;
p = p + T;
}
void Dolly(vector<float, 3> direction)
{
p = p+direction;
}
void Dolly(float x, float y, float z){Dolly(vector<float, 3>(x, y, z));}
void Push(float delta)
{
if(delta > focus)
delta = focus;
focus -= delta;
Dolly(d*delta);
}
void Pan(float theta_x, float theta_y, float theta_z)
{
//x rotation is around the up axis
quaternion<float> qx;
qx.CreateRotation(theta_x, up[0], up[1], up[2]);
//y rotation is around the side axis
vector<float, 3> side = up.cross(d);
quaternion<float> qy;
qy.CreateRotation(theta_y, side[0], side[1], side[2]);
//z rotation is around the direction vector
quaternion<float> qz;
qz.CreateRotation(theta_z, d[0], d[1], d[2]);
//combine the rotations in x, y, z order
quaternion<float> final = qz*qy*qx;
//get the rotation matrix
matrix<float, 3> rot_matrix = final.toMatrix3();
//apply the rotation
d = rot_matrix*d;
up = rot_matrix*up;
//stabalize the camera
stabalize();
}
void Pan(float theta_x){Pan(theta_x, 0, 0);}
void Tilt(float theta_y){Pan(0, theta_y, 0);}
void Twist(float theta_z){Pan(0, 0, theta_z);}
void Zoom(float delta)
{
fov -= delta;
if(fov < 0.5)
fov = 0.5;
if(fov > 180)
fov = 180;
}
void OrbitFocus(float theta_x, float theta_y)
{
//find the focal point
point<float, 3> focal_point = p + focus*d;
//center the coordinate system on the focal point
point<float, 3> centered = p - (focal_point - point<float, 3>(0, 0, 0));
//create the x rotation (around the up vector)
quaternion<float> qx;
qx.CreateRotation(theta_x, up[0], up[1], up[2]);
centered = point<float, 3>(0, 0, 0) + qx.toMatrix3()*(centered - point<float, 3>(0, 0, 0));
//get a side vector for theta_y rotation
vector<float, 3> side = up.cross((point<float, 3>(0, 0, 0) - centered).norm());
quaternion<float> qy;
qy.CreateRotation(theta_y, side[0], side[1], side[2]);
centered = point<float, 3>(0, 0, 0) + qy.toMatrix3()*(centered - point<float, 3>(0, 0, 0));
//perform the rotation on the centered camera position
//centered = final.toMatrix()*centered;
//re-position the camera
p = centered + (focal_point - point<float, 3>(0, 0, 0));
//make sure we are looking at the focal point
LookAt(focal_point);
//stabalize the camera
stabalize();
}
void Slide(float u, float v)
{
vector<float, 3> V = up.norm();
vector<float, 3> U = up.cross(d).norm();
p = p + (V * v) + (U * u);
}
//accessor methods
point<float, 3> getPosition(){return p;}
vector<float, 3> getUp(){return up;}
vector<float, 3> getDirection(){return d;}
point<float, 3> getLookAt(){return p + focus*d;}
float getFOV(){return fov;}
//output the camera settings
const void print(std::ostream& output)
{
output<<"Position: "<<p<<std::endl;
}
friend std::ostream& operator<<(std::ostream& out, const camera& c)
{
out<<"Position: "<<c.p<<std::endl;
out<<"Direction: "<<c.d<<std::endl;
out<<"Up: "<<c.up<<std::endl;
out<<"Focal Distance: "<<c.focus<<std::endl;
return out;
}
//constructor
camera()
{
p = point<float, 3>(0, 0, 0);
d = vector<float, 3>(0, 0, 1);
up = vector<float, 3>(0, 1, 0);
focus = 1;
}
};
}
#endif
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