/// <summary>
/// Gets the view matrix corresponding to a "look at" point</summary>
/// <param name="azimuth">Camera pan, in radians</param>
/// <param name="elevation">Camera tilt, in radians</param>
/// <param name="lookAt">"Look at" direction</param>
/// <returns>View matrix corresponding to the "look at" point</returns>
public static Matrix4F LookAtRotationMatrix(float azimuth, float elevation, Vec3F lookAt)
{
double sy = Math.Sin(azimuth);
double cy = Math.Cos(azimuth);
double sx = Math.Sin(elevation);
double cx = Math.Cos(elevation);
// Calc eye vector as the rotation matrix * (0,0,1)
Vec3F eye = new Vec3F((float)sy, (float)(-cy * sx), (float)(cy * cx));
eye = eye + lookAt;
// Calc up vector as the rotation matrix * (0,1,0)
Vec3F up = new Vec3F(0, (float)cx, (float)sx);
Vec3F fvec = lookAt - eye;
Vec3F f = Vec3F.Normalize(fvec);
Vec3F s = Vec3F.Cross(f, up);
Vec3F u = Vec3F.Cross(s, f);
return(new Matrix4F
(
s.X, s.Y, s.Z, 0,
u.X, u.Y, u.Z, 0,
-f.X, -f.Y, -f.Z, 0,
0, 0, 0, 1
));
}
/// <summary>
/// Synchronizes the camera to the controller's current state</summary>
/// <param name="camera">Camera</param>
protected override void ControllerToCamera(Camera camera)
{
Vec3F lookAt = camera.LookAt;
Vec3F right = camera.Right;
Vec3F up = camera.Up;
if (camera.ViewType == ViewTypes.Perspective)
{
// override the camera's frame of reference
float sinPhi = (float)Math.Sin(m_elevation);
float cosPhi = (float)Math.Cos(m_elevation);
float sinTheta = (float)Math.Sin(m_azimuth);
float cosTheta = (float)Math.Cos(m_azimuth);
lookAt = new Vec3F(-cosPhi * sinTheta, -sinPhi, -cosPhi * cosTheta);
right = new Vec3F(cosTheta, 0, -sinTheta);
up = Vec3F.Cross(right, lookAt); // TODO compute from sin/cos values
}
float lookAtOffset = 0;
if (m_distanceFromLookAt < m_dollyThreshold) // do we need to start dollying?
{
lookAtOffset = m_distanceFromLookAt - m_dollyThreshold;
}
float eyeOffset = m_distanceFromLookAt;
Camera.Set(m_lookAtPoint - (eyeOffset * lookAt), // eye point
m_lookAtPoint - (lookAtOffset * lookAt), // look-at point
up); // up vector
base.ControllerToCamera(camera);
}
/// <summary>
/// Gets the view matrix corresponding to a view direction</summary>
/// <param name="viewDirection">View direction</param>
/// <returns>View matrix corresponding to the view direction</returns>
public static Matrix4F LookAtMatrix(Vec3F viewDirection)
{
// check if viewDirection is non-zero length and normalize it if so.
float length = viewDirection.Length;
if (length == 0.0f)
{
return(new Matrix4F());
}
viewDirection = viewDirection * (1.0f / length);
// find a basis vector (x-axis or y-axis) that is not parallel to viewDirection.
// give preference to y-axis for historical purposes.
// Create 's' and 'u' that are orthonormal vectors, relative to viewDirection.
// 'viewDirection' is like the z-axis. 's' is the x-axis, and 'u' is the y-axis.
// We want: s X u = viewDir so that resulting coordinate system is right-handed.
// Otherwise, you get the triangles all flipped.
Vec3F s;
Vec3F xAxis = new Vec3F(1, 0, 0);
Vec3F yAxis = new Vec3F(0, 1, 0);
if (Math.Abs(Vec3F.Dot(yAxis, viewDirection)) < 0.98)
{
s = Vec3F.Cross(yAxis, viewDirection); //x' = y X z
}
else
{
// viewDirection == yAxis
s = Vec3F.Cross(viewDirection, xAxis); //x' = y X x
}
Vec3F u = Vec3F.Cross(viewDirection, s); //y' = z X x'
s = s / s.Length;
u = u / u.Length;
Matrix4F T = new Matrix4F
(
s.X, s.Y, s.Z, 0,
u.X, u.Y, u.Z, 0,
viewDirection.X, viewDirection.Y, viewDirection.Z, 0,
0, 0, 0, 1
);
return(T);
}
private void Track(Point current)
{
if (current.X < 0 || current.X > m_width)
{
return;
}
if (current.Y < 0 || current.Y > m_height)
{
return;
}
Vec3F currentPoint = ProjectToArcball(current);
Vec3F i = Vec3F.Cross(currentPoint, m_firstPoint);
float r = Vec3F.Dot(m_firstPoint, currentPoint);
m_currentRotation = new QuatF(i.X, i.Y, i.Z, r);
}
private static float CalcAngle(Vec3F v0, Vec3F v1, Vec3F axis, float snapAngle)
{
const float twoPi = (float)(2.0 * Math.PI);
float angle = Vec3F.Dot(v0, v1);
if (angle > 1.0f)
{
angle = 1.0f;
}
else if (angle <= -1.0f)
{
angle = 1.0f;
}
angle = (float)Math.Acos(angle);
// Check if v0 is left of v1
Vec3F cross = Vec3F.Cross(v0, v1);
if (Vec3F.Dot(cross, axis) < 0)
{
angle = twoPi - angle;
}
// round to nearest multiple of preference
if (snapAngle > 0)
{
if (angle >= 0)
{
int n = (int)((angle + snapAngle * 0.5f) / snapAngle);
angle = n * snapAngle;
}
else
{
int n = (int)((angle - snapAngle * 0.5f) / snapAngle);
angle = n * snapAngle;
}
}
// const float epsilone = (float)1e-7;
// if (twoPi - angle <= epsilone) angle = 0.0f;
return(angle);
}
private static float CalcAngle(Vec3F v0, Vec3F v1, Vec3F axis, float snapAngle)
{
float angle = Vec3F.Dot(v0, v1);
if (angle > 1.0f)
{
angle = 1.0f;
}
else if (angle < -1.0f)
{
angle = 1.0f;
}
angle = (float)Math.Acos(angle);
// Check if v0 is left of v1
Vec3F cross = Vec3F.Cross(v0, v1);
if (Vec3F.Dot(cross, axis) < 0)
{
angle = -angle;
}
// round to nearest multiple of preference
if (snapAngle > 0)
{
if (angle >= 0)
{
int n = (int)((angle + snapAngle * 0.5) / snapAngle);
angle = n * snapAngle;
}
else
{
int n = (int)((angle - snapAngle * 0.5) / snapAngle);
angle = n * snapAngle;
}
}
return(angle);
}
private void UpdateGeometry()
{
// create orthornormal basis from lookAt and up vectors
m_lookAt = m_lookAtPoint - m_eye;
m_lookAt.Normalize();
m_right = Vec3F.Cross(m_lookAt, m_up);
m_right.Normalize();
m_up = Vec3F.Cross(m_right, m_lookAt);
//m_up.Normalize(); // m_right is already unit length
m_lookAtDistance = Vec3F.Distance(m_eye, m_lookAtPoint);
if (ProjectionType == ProjectionType.Orthographic)
{
SetOrthographic(m_lookAtDistance);
}
else
{
OnCameraChanged(EventArgs.Empty);
}
}
/// <summary>
/// Creates Billboard matrix from the given parameters.</summary>
public static void CreateBillboard(Matrix4F matrix, Vec3F objectPos, Vec3F camPos, Vec3F camUp, Vector3 camLook)
{
Vector3 look = objectPos - camPos;
float len = look.LengthSquared;
if (len < 0.0001f)
{
look = -camLook;
}
else
{
look.Normalize();
}
Vector3 right = Vec3F.Cross(camUp, look);
right.Normalize();
Vector3 up = Vec3F.Cross(look, right);
matrix.M11 = right.X;
matrix.M12 = right.Y;
matrix.M13 = right.Z;
matrix.M14 = 0f;
matrix.M21 = up.X;
matrix.M22 = up.Y;
matrix.M23 = up.Z;
matrix.M24 = 0f;
matrix.M31 = look.X;
matrix.M32 = look.Y;
matrix.M33 = look.Z;
matrix.M34 = 0f;
matrix.M41 = objectPos.X;
matrix.M42 = objectPos.Y;
matrix.M43 = objectPos.Z;
matrix.M44 = 1f;
}
/// <summary>
/// Given an object's current Euler angles and a surface normal, will calculate
/// the Euler angles necessary to rotate the object so that it's up-vector is
/// aligned with the surface normal.
/// </summary>
/// <param name="originalEulers">From an IRenderableNode.Rotation, for example.</param>
/// <param name="surfaceNormal">a unit vector that the object should be rotate-snapped to</param>
/// <param name="upAxis">y or z is up?</param>
/// <returns>The resulting angles to be assigned to IRenderableNode.Rotation</returns>
/// <remarks>
/// Note that QuatF was attempted to be used, but I could not get it to work reliably
/// with the Matrix3F.GetEulerAngles(). Numerical instability? The basis vector
/// method below works well except for when the target surface is 90 degrees different
/// than the starting up vector in which case the rotation around the up vector is lost
/// (gimbal lock) but the results are always valid in the sense that the up vector
/// is aligned with the surface normal. --Ron Little
/// </remarks>
public static Vec3F RotateToVector(Vec3F originalEulers, Vec3F surfaceNormal, AxisSystemType upAxis)
{
// get basis vectors for the current rotation
Matrix3F rotMat = new Matrix3F();
rotMat.Rotation(originalEulers);
Vec3F a1 = rotMat.XAxis;
Vec3F a2 = rotMat.YAxis;
Vec3F a3 = rotMat.ZAxis;
// calculate destination basis vectors
Vec3F b1, b2, b3;
if (upAxis == AxisSystemType.YIsUp)
{
// a2 is the current up vector. b2 is the final up vector.
// now, find either a1 or a3, whichever is most orthogonal to surface
b2 = new Vec3F(surfaceNormal);
float a1DotS = Vec3F.Dot(a1, surfaceNormal);
float a3DotS = Vec3F.Dot(a3, surfaceNormal);
if (Math.Abs(a1DotS) < Math.Abs(a3DotS))
{
b1 = new Vec3F(a1);
b3 = Vec3F.Cross(b1, b2);
b1 = Vec3F.Cross(b2, b3);
}
else
{
b3 = new Vec3F(a3);
b1 = Vec3F.Cross(b2, b3);
b3 = Vec3F.Cross(b1, b2);
}
}
else
{
// a3 is the current up vector. b3 is the final up vector.
// now, find either a1 or a2, whichever is most orthogonal to surface
b3 = new Vec3F(surfaceNormal);
float a1DotS = Vec3F.Dot(a1, surfaceNormal);
float a2DotS = Vec3F.Dot(a2, surfaceNormal);
if (Math.Abs(a1DotS) < Math.Abs(a2DotS))
{
b1 = new Vec3F(a1);
b2 = Vec3F.Cross(b3, b1);
b1 = Vec3F.Cross(b2, b3);
}
else
{
b2 = new Vec3F(a2);
b1 = Vec3F.Cross(b2, b3);
b2 = Vec3F.Cross(b3, b1);
}
}
// in theory, this isn't necessary, but in practice...
b1.Normalize();
b2.Normalize();
b3.Normalize();
// construct new rotation matrix and extract euler angles
rotMat.XAxis = b1;
rotMat.YAxis = b2;
rotMat.ZAxis = b3;
Vec3F newEulers = new Vec3F();
rotMat.GetEulerAngles(out newEulers.X, out newEulers.Y, out newEulers.Z);
return(newEulers);
}
