Matrix Quat::ToMatrix() const
{
Quat nq = GetNormalized();
float xx = 2.f * nq.x * nq.x;
float yy = 2.f * nq.y * nq.y;
float zz = 2.f * nq.z * nq.z;
float xy = 2.f * nq.x * nq.y;
float xz = 2.f * nq.x * nq.z;
float wx = 2.f * nq.w * nq.x;
float wz = 2.f * nq.w * nq.z;
float wy = 2.f * nq.w * nq.y;
float yz = 2.f * nq.y * nq.z;
// http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q54
return Matrix(
1.f - ( yy + zz ), xy + wz, xz - wy, 0.f,
xy - wz, 1.f - ( xx + zz ), yz + wx, 0.f,
xz + wy, yz - wx, 1.f - ( xx + yy ), 0.f,
0.f, 0.f, 0.f, 1.f );
}
double IParam::GetNormalized()
{
return GetNormalized(mValue);
}
float JParam::GetNormalized() const
{
return GetNormalized(mValue);
}
const direction2 ToUnit(const direction2& dir)
{
return direction2(GetNormalized(dir.vec));
}
void Frustum::Update(const Matrix44<float>& aCameraOrientation, float aAspectRatio, float aFov)
{
float Hnear = 2.f * tan(aFov / 2.f) * myNear;
float Wnear = Hnear * aAspectRatio;
myPosition = aCameraOrientation.GetTranslation();
Vector3f rightVector = GetNormalized(aCameraOrientation.GetRightVector());
Vector3f forwardVector = GetNormalized(aCameraOrientation.GetForwardVector());
Vector3f upVector = GetNormalized(aCameraOrientation.GetUpVector());
Vector3f nc = myPosition + forwardVector * myNear;
Vector3f ntl = nc + (upVector * Hnear / 2.f) - (rightVector * Wnear / 2.f);
Vector3f ntr = nc + (upVector * Hnear / 2.f) + (rightVector * Wnear / 2.f);
Vector3f nbl = nc - (upVector * Hnear / 2.f) - (rightVector * Wnear / 2.f);
Vector3f nbr = nc - (upVector * Hnear / 2.f) + (rightVector * Wnear / 2.f);
float Hfar = 2.f * tan(aFov / 2.f) * myFar;
float Wfar = Hfar * aAspectRatio;
Vector3f fc = myPosition + forwardVector * myFar;
Vector3f ftl = fc + (upVector * Hfar / 2.f) - (rightVector * Wfar / 2.f);
Vector3f ftr = fc + (upVector * Hfar / 2.f) + (rightVector * Wfar / 2.f);
Vector3f fbl = fc - (upVector * Hfar / 2.f) - (rightVector * Wfar / 2.f);
Vector3f fbr = fc - (upVector * Hfar / 2.f) + (rightVector * Wfar / 2.f);
myPointPositions[0] = ntl;
myPointPositions[1] = ntr;
myPointPositions[2] = nbl;
myPointPositions[3] = nbr;
myPointPositions[4] = ftl;
myPointPositions[5] = ftr;
myPointPositions[6] = fbl;
myPointPositions[7] = fbr;
Plane<float> plane;
plane.InitWith3Points(myPosition, nbr, ntr);
myPlanes[int(eFRUSTUMSIDES::eRIGHT)] = plane;
plane.InitWith3Points(myPosition, ntl, nbl);
myPlanes[int(eFRUSTUMSIDES::eLEFT)] = plane;
plane.InitWith3Points(myPosition, ntr, ntl);
myPlanes[int(eFRUSTUMSIDES::eUP)] = plane;
plane.InitWith3Points(myPosition, nbl, nbr);
myPlanes[int(eFRUSTUMSIDES::eDOWN)] = plane;
plane.InitWithPointAndNormal(myPosition + (forwardVector * myFar), forwardVector);
myPlanes[int(eFRUSTUMSIDES::eFAR)] = plane;
plane.InitWithPointAndNormal(myPosition + (forwardVector * myNear), (forwardVector * -1.f));
myPlanes[int(eFRUSTUMSIDES::eNEAR)] = plane;
myPosition += forwardVector * (myFar / 2.f);
myLines.RemoveAll();
//Near Plane
myLines.Add(CU::RenderCommandLine(ntl, ntr));
myLines.Add(CU::RenderCommandLine(ntr, nbr));
myLines.Add(CU::RenderCommandLine(nbr, nbl));
myLines.Add(CU::RenderCommandLine(nbl, ntl));
//Far plane
myLines.Add(CU::RenderCommandLine(ftl, ftr));
myLines.Add(CU::RenderCommandLine(ftr, fbr));
myLines.Add(CU::RenderCommandLine(fbr, fbl));
myLines.Add(CU::RenderCommandLine(fbl, ftl));
//Sides
myLines.Add(CU::RenderCommandLine(ntl, ftl));
myLines.Add(CU::RenderCommandLine(ntr, ftr));
myLines.Add(CU::RenderCommandLine(nbr, fbr));
myLines.Add(CU::RenderCommandLine(nbl, fbl));
}
