void InteractionHandler::resetCameraDirection() {
LINFO("Setting camera direction to point at focus node.");
glm::dquat rotation = _camera->rotationQuaternion();
glm::dvec3 focusPosition = focusNode()->worldPosition();
glm::dvec3 cameraPosition = _camera->positionVec3();
glm::dvec3 lookUpVector = _camera->lookUpVectorWorldSpace();
glm::dvec3 directionToFocusNode = glm::normalize(focusPosition - cameraPosition);
// To make sure the lookAt function won't fail
static const double epsilon = 0.000001;
if (glm::dot(lookUpVector, directionToFocusNode) > 1.0 - epsilon) {
// Change the look up vector a little bit
lookUpVector = glm::normalize(lookUpVector + glm::dvec3(epsilon));
}
// Create the rotation to look at focus node
glm::dmat4 lookAtMat = glm::lookAt(
glm::dvec3(0, 0, 0),
directionToFocusNode,
lookUpVector);
glm::dquat rotationLookAtFocusNode = normalize(quat_cast(inverse(lookAtMat)));
// Update camera Rotation
_camera->setRotation(rotationLookAtFocusNode);
}
void AnimatedTransform::decompose(const mat4x4& m, vec3* translation, quat* rotation,
mat4x4* scale) {
// Decompose function from Pbrt
// https://github.com/mmp/pbrt-v2/blob/master/src/core/transform.cpp
// Extract translation from transformation matrix
translation->x = m[3][0];
translation->y = m[3][1];
translation->z = m[3][2];
// Compute new transformation matrix M without translation
mat4x4 M = m;
for (int i = 0; i < 3; ++i)
M[i][3] = M[3][i] = 0.f;
M[3][3] = 1.f;
// Extract rotation from transformation matrix
float norm;
int count = 0;
mat4x4 R = M;
do {
// Compute next matrix Rnext in series
mat4x4 Rnext;
mat4x4 Rit = inverse(transpose(R));
for (int i = 0; i < 4; ++i)
for (int j = 0; j < 4; ++j)
Rnext[i][j] = 0.5f * (R[i][j] + Rit[i][j]);
// Compute norm of difference between R and Rnext
norm = 0.f;
for (int i = 0; i < 3; ++i) {
float n = (fabsf(R[i][0] - Rnext[i][0]) +
fabsf(R[i][1] - Rnext[i][1]) +
fabsf(R[i][2] - Rnext[i][2])
);
norm = max(norm, n);
}
R = Rnext;
} while (++count < 100 && norm > .0001f);
*rotation = quat_cast(R);
// Compute scale _S_ using rotation and original matrix
*scale = inverse(R) * M;
}
detail::tquat<valType> toQuat(
detail::tmat4x4<valType> const & x){return quat_cast(x);}
GLM_FUNC_DECL tquat<T, P> toQuat(
tmat4x4<T, P> const & x){return quat_cast(x);}
GLM_FUNC_DECL tquat<T, P> toQuat(
mat<4, 4, T, P> const& x){return quat_cast(x);}
detail::tquat<T, P> toQuat(
detail::tmat4x4<T, P> const & x){return quat_cast(x);}
void Transform::setRotationEuler(glm::vec3 angles){
assert(!glm::any(glm::isnan(angles)));
mat4 rot = yawPitchRoll(angles.y, angles.x, angles.z);
setRotation(quat_cast(rot));
}
void Transform::setLocalRotationEuler(glm::vec3 angles){
assert(!glm::any(glm::isnan(angles)));
mat4 rot = yawPitchRoll(angles.y, angles.x, angles.z);
mLocalRotationQuat = quat_cast(rot);
markLocalDirty();
}
void Camera::SetLookAt(glm::vec3 pos) {
look_at = pos;
rotation_quaternion = quat_cast(lookAt(position, pos, vec3(0,1,0)));
}