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quat_Camera.cpp
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quat_Camera.cpp
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#include "Camera.h"
#include <stdlib.h>
#include <iostream>
#include <math.h>
extern "C"{
#include "trackball.h"
}
#ifndef M_PI
#define M_PI 3.14159265358979323846f
#endif
Camera::Camera(float ex, float ey, float ez, float lx, float ly, float lz, float w, float h)
{
eye[0] = ex;
eye[1] = ey;
eye[2] = ez;
eye[3] = 1.0;
look[0] = lx;
look[1] = ly;
look[2] = lz;
look[3] = 1;
left[0] = (float)cos(90.0) * (look[0]) + (float)sin(90.0) * (look[2]);
left[1] = 0;
left[2] = (float)sin(90.0) * (look[0]) * (-1) + (float)cos(90.0) * (look[2]);
left[3] = 0;
up[0] = 0;
up[1] = 1.0;;
up[2] = 0;
up[3] = 0;
mxn = 0;
mxo = -1;
myn = 0;
myo = -1;
hWind = h;
wWind = w;
anglexz = 0;
}
Camera::Camera()
{}
void Camera::rotateViewingDirection(float anglex, float angley, float anglez)
{
// vertikaler blick
look[1] += sinf(angley);
// drehmatrix für x,z-ebene
if(anglex)
{
look[0] = cosf(anglex) * look[0] + sinf(anglex) * look[2];
look[2] = -1.0f * sin(anglex) * look[0] + cos(anglex) * look[2];
}
// update left-vektor für strafe
left[0] = look[2];
left[2] = -1 * look[0];
normalizeVector(left);
normalizeVector(look);
}
void Camera::strafeSideways(bool right)
{
float pace = 0.1f;
if(right)
{
pace *= -1.0f;
}
eye[0] += left[0] * pace;
eye[1] += left[1] * pace;
eye[2] += left[2] * pace;
}
void Camera::strafeForward(bool backwards)
{
float pace = 0.1f;
if(backwards)
{
pace *= -1.0f;
}
eye[0] += look[0] * pace;
eye[1] += look[1] * pace;
eye[2] += look[2] * pace;
}
void Camera::rotateVector(float view[], float axis[], float Angle)
{
Quaternion quat_view,temp,result;
temp.x = axis[0] * sin(Angle/2);
temp.y = axis[1] * sin(Angle/2);
temp.z = axis[2] * sin(Angle/2);
temp.w = cos(Angle/2);
quat_view.x = view[0];
quat_view.y = view[1];
quat_view.z = view[2];
quat_view.w = 0;
result = mult(mult(temp, quat_view), conjugate(temp));
view[0] = result.x;
view[1] = result.y;
view[2] = result.z;
}
Quaternion Camera::normalize(Quaternion quat)
{
double L = quat.length(quat);
quat.x /= L;
quat.y /= L;
quat.z /= L;
quat.w /= L;
return quat;
}
Quaternion Camera::conjugate(Quaternion quat)
{
quat.x = -quat.x;
quat.y = -quat.y;
quat.z = -quat.z;
return quat;
}
Quaternion Camera::mult(Quaternion A, Quaternion B)
{
Quaternion C;
C.x = A.w*B.x + A.x*B.w + A.y*B.z - A.z*B.y;
C.y = A.w*B.y - A.x*B.z + A.y*B.w + A.z*B.x;
C.z = A.w*B.z + A.x*B.y - A.y*B.x + A.z*B.w;
C.w = A.w*B.w - A.x*B.x - A.y*B.y - A.z*B.z;
return C;
}
// wendet matrix auf vektor an
void Camera::MatrixMulVector(float m[4][4], float v[], float out[] )
{
for(int i = 0; i < 3; i++)
{
for(int j = 0; j < 3; j++)
{
out[i] += m[i][j] * v[j];
}
}
}
void Camera::mouseMovement(int posx, int posy)
{
float q[4]; // quaternion für rotation
float mv[4][4]; // vertikale rotation
float lookRotated[4]; // neuer
if(mxo == -1)
{
mxo = mxn;
myo = myn;
return;
}
mxn = posx;
myn = posy;
// quaternion erstellen
// mausparameter müssen angepasst werden
trackball(q,
(2*mxo - wWind ) / wWind,
(2*myo - hWind) / hWind,
(2*mxn - wWind ) / wWind,
(2*myn - hWind) / hWind, left);
/*
Quaternion temp;
temp.x = q[0];
temp.y = q[1];
temp.z = q[2];
temp.w = 0;
Quaternion quat_view;
quat_view.x = look[0];
quat_view.y = look[1];
quat_view.z = look[2];
quat_view.w = 0;
lookRotated = mult(mult(temp, quat_view), conjugate(temp));
look[0] = lookRotated.x;
look[1] = lookRotated.y;
look[2] = lookRotated.z;
*/
build_rotmatrix(mv, q);
// rotieren mit neuer Rotationsmatrix mv
MatrixMulVector(mv, look, lookRotated);
memcpy(look, lookRotated, sizeof(lookRotated));
left[0] = look[2];
left[2] = -1 * look[0];
normalizeVector(left);
normalizeVector(look);
mxo = mxn;
myo = myn;
}
// mausdelta berechnen
void Camera::mouseMovement(int posx, int posy)
{
if(mxo == -1)
{
mxo = mxn;
myo = myn;
return;
}
mxn = posx;
myn = posy;
float dx = (float)(mxn - mxo)*0.01f;
float dy = (float)(myn - myo)*0.01f;
//rotateViewingDirection(-1*dx, -1*dy,0.0);
if(abs(anglexz + dy) < 10)
{
anglexz += dy;
//rotateVector(look, left, dy);
}
// update left-vektor für strafe
left[0] = look[2];
left[2] = -1 * look[0];
normalizeVector(left);
normalizeVector(look);
mxo = mxn;
myo = myn;
}
void Camera::showStatus()
{
//std::cout << "eye\r\n" << eye[0] << " " << eye[1] << " " << eye[2] << "\r\n";
//std::cout << "look\r\n" << look[0] << " " << look[1] << " " << look[2] << "\r\n";
//std::cout << "sum\r\n" << eye[0] + look[0]<< " " << eye[1] + look[1]<< " " << eye[2] + look[2]<< "\r\n";
//std::cout << "left " << left[0] << " " << left[1] << " " << left[2] << "\r\n";
//std::cout << "look " << look[0] << " " << look[1] << " " << look[2] << "\r\n";
//std::cout << "look dot left " << dotProduct(left, look, 3) << "\r\n";
std::cout << anglexz << "\r\n";
//system("cls");
}
void Camera::crossProduct(float u[], float v[], float *out[])
{
float res[3];
res[0] = u[1]*v[2] - v[1]*u[2];
res[1] = v[0]*u[2] - u[0]*v[2];
res[2] = u[0]*v[1] - u[1]*v[0];
u[0] = res[0];
u[1] = res[1];
u[2] = res[2];
}
void Camera::normalizeVector(float vec[])
{
float len = sqrtf(pow(vec[0],2) + pow(vec[1],2) + pow(vec[2],2));
vec[0] /= len;
vec[1] /= len;
vec[2] /= len;
}
Camera::~Camera(void)
{
}