public v3f cross(v3f b)
{
v3f res;
res.x = y * b.z - z * b.y;
res.y = z * b.x - x * b.z;
res.z = x * b.y - y * b.x;
return res;
}
public v3f rotateAbout(v3f axis, float rotationRad)
{
v3f res = new v3f();
v3f uvw = axis.norm();
//http://www.mines.edu/~gmurray/ArbitraryAxisRotation/ArbitraryAxisRotation.htm
float u = uvw.x;
float v = uvw.y;
float w = uvw.z;
float SIN = (float)Math.Sin(rotationRad);
float COS = (float)Math.Cos(rotationRad);
float u2 = u * u;
float v2 = v * v;
float w2 = w * w;
float ux = u * x;
float vy = v * y;
float wz = w * z;
float dot = ux + vy + wz;
// x=u(ux+vy+wz)+(x(v*v+w*w)+u(-vy-wz))cos(theta)+mag(uvw)(vz-wy)sin(theta)
res.x = u * dot + COS * (x * (v2 + w2) + u * (-vy - wz)) + uvw.mag() * (v * z - w * y) * SIN;
res.y = v * dot + COS * (y * (u2 + w2) + v * (-ux - wz)) + uvw.mag() * (w * x - u * z) * SIN;
res.z = w * dot + COS * (z * (u2 + v2) + w * (-ux - vy)) + uvw.mag() * (u * y - v * x) * SIN;
return res;
}
public void Pan(v3f v)
{
v3f lookat = new v3f();
lookat.z = -(float)Math.Sin(pitch / 180.0 * Math.PI);
float horiz = (float)Math.Cos(pitch / 180.0 * Math.PI);
lookat.x = horiz * (float)Math.Sin(yaw / 180.0 * Math.PI);
lookat.y = horiz * (float)Math.Cos(yaw / 180.0 * Math.PI);
v3f forward = lookat;
v3f left = up.cross(forward).norm();
v3f T = (forward * v.x + left*v.y + up.norm()*v.z);
location = location + T;
}
public override void ApplyProjection()
{
v3f lookat = new v3f();
lookat.z = -(float)Math.Sin(pitch / 180.0 * Math.PI);
float horiz = (float)Math.Cos(pitch / 180.0 * Math.PI);
lookat.x = horiz*(float)Math.Sin(yaw / 180.0 * Math.PI);
lookat.y = horiz*(float)Math.Cos(yaw / 180.0 * Math.PI);
lookat = lookat + location;
Glu.gluPerspective(45.0, aspect, .01, 1000);
Glu.gluLookAt(location.x, location.y, location.z, lookat.x, lookat.y, lookat.z, up.x, up.y, up.z);
}
float pitch, yaw; // both in degrees
#endregion Fields
#region Constructors
public GLCameraFree(WorldTransform wt)
{
location = new v3f(-5.0f, -5, 5);
up = new v3f(0, 0, 1);
pitch = 30;
yaw = 30;
UpdateWithWorldTransform(wt);
}
public void Pitch(float rotDegrees)
{
v3f v = up.cross(centerRel);
v3f cv = centerRel - eyeRel;
centerRel = cv.rotateAbout(v, rotDegrees / 180.0f * (float)Math.PI);
}
public void MoveToPointAndHeading(PointF point, double rotRadians)
{
v3f vPoint = new v3f(point.X, point.Y, 1.0f);
v3f forward = new v3f((float)Math.Cos(rotRadians), (float)Math.Sin(rotRadians), 0);
float cDist = (float)Math.Sqrt(centerRel.x * centerRel.x + centerRel.y * centerRel.y);
float cZ = centerRel.z;
float eDist = (float)Math.Sqrt(eyeRel.x * eyeRel.x + eyeRel.y * eyeRel.y);
float eZ = eyeRel.z;
center = vPoint + forward * cDist;
center.z = cZ;
eye = vPoint - forward * eDist;
eye.z = eZ;
}
public GLCameraChase(WorldTransform wt)
{
eye = eyeRel;
center = centerRel;
up = new v3f(0, 0, 1);
UpdateWithWorldTransform(wt);
}
