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118 lines
3.4 KiB
118 lines
3.4 KiB
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_CAMERA_H
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#define EIGEN_CAMERA_H
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#include <Eigen/Geometry>
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#include <QObject>
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// #include <frame.h>
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class Frame
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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inline Frame(const Eigen::Vector3f& pos = Eigen::Vector3f::Zero(),
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const Eigen::Quaternionf& o = Eigen::Quaternionf())
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: orientation(o), position(pos)
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{}
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Frame lerp(float alpha, const Frame& other) const
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{
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return Frame((1.f-alpha)*position + alpha * other.position,
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orientation.slerp(alpha,other.orientation));
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}
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Eigen::Quaternionf orientation;
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Eigen::Vector3f position;
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};
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class Camera
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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Camera(void);
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Camera(const Camera& other);
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virtual ~Camera();
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Camera& operator=(const Camera& other);
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void setViewport(uint offsetx, uint offsety, uint width, uint height);
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void setViewport(uint width, uint height);
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inline uint vpX(void) const { return mVpX; }
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inline uint vpY(void) const { return mVpY; }
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inline uint vpWidth(void) const { return mVpWidth; }
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inline uint vpHeight(void) const { return mVpHeight; }
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inline float fovY(void) const { return mFovY; }
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void setFovY(float value);
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void setPosition(const Eigen::Vector3f& pos);
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inline const Eigen::Vector3f& position(void) const { return mFrame.position; }
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void setOrientation(const Eigen::Quaternionf& q);
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inline const Eigen::Quaternionf& orientation(void) const { return mFrame.orientation; }
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void setFrame(const Frame& f);
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const Frame& frame(void) const { return mFrame; }
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void setDirection(const Eigen::Vector3f& newDirection);
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Eigen::Vector3f direction(void) const;
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void setUp(const Eigen::Vector3f& vectorUp);
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Eigen::Vector3f up(void) const;
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Eigen::Vector3f right(void) const;
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void setTarget(const Eigen::Vector3f& target);
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inline const Eigen::Vector3f& target(void) { return mTarget; }
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const Eigen::Affine3f& viewMatrix(void) const;
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const Eigen::Matrix4f& projectionMatrix(void) const;
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void rotateAroundTarget(const Eigen::Quaternionf& q);
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void localRotate(const Eigen::Quaternionf& q);
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void zoom(float d);
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void localTranslate(const Eigen::Vector3f& t);
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/** Setup OpenGL matrices and viewport */
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void activateGL(void);
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Eigen::Vector3f unProject(const Eigen::Vector2f& uv, float depth, const Eigen::Matrix4f& invModelview) const;
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Eigen::Vector3f unProject(const Eigen::Vector2f& uv, float depth) const;
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protected:
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void updateViewMatrix(void) const;
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void updateProjectionMatrix(void) const;
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protected:
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uint mVpX, mVpY;
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uint mVpWidth, mVpHeight;
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Frame mFrame;
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mutable Eigen::Affine3f mViewMatrix;
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mutable Eigen::Matrix4f mProjectionMatrix;
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mutable bool mViewIsUptodate;
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mutable bool mProjIsUptodate;
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// used by rotateAroundTarget
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Eigen::Vector3f mTarget;
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float mFovY;
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float mNearDist;
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float mFarDist;
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};
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#endif // EIGEN_CAMERA_H
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