void CTransform::LookAt(const CVec& cEye, const CVec& cCenter, const CVec& cUp)
{
CVec cF = cCenter - cEye;
cF.Normalize( );
CVec cUpPrime = cUp;
cUpPrime.Normalize( );
CVec cS = cF * cUpPrime;
CVec cU = cS * cF;
CTransform cTemp;
cTemp.m_afData[0][0] = cS[0];
cTemp.m_afData[1][0] = cS[1];
cTemp.m_afData[2][0] = cS[2];
cTemp.m_afData[0][1] = cU[0];
cTemp.m_afData[1][1] = cU[1];
cTemp.m_afData[2][1] = cU[2];
cTemp.m_afData[0][2] = -cF[0];
cTemp.m_afData[1][2] = -cF[1];
cTemp.m_afData[2][2] = -cF[2];
*this = cTemp * *this;
Translate(-cEye.m_afData[0], -cEye.m_afData[1], -cEye.m_afData[2]);
}
void CTransform::RotateAxis(float fAngle, CVec cAxis)
{
cAxis.Normalize( );
float s = VectorSinD(fAngle);
float c = VectorCosD(fAngle);
float t = 1.0f - c;
float x = cAxis.m_afData[0];
float y = cAxis.m_afData[1];
float z = cAxis.m_afData[2];
CTransform cRotMatrix;
cRotMatrix.m_afData[0][0] = t * x * x + c;
cRotMatrix.m_afData[0][1] = t * x * y + s * z;
cRotMatrix.m_afData[0][2] = t * x * z - s * y;
cRotMatrix.m_afData[0][3] = 0.0;
cRotMatrix.m_afData[1][0] = t * x * y - s * z;
cRotMatrix.m_afData[1][1] = t * y * y + c;
cRotMatrix.m_afData[1][2] = t * y * z + s * x;
cRotMatrix.m_afData[1][3] = 0.0;
cRotMatrix.m_afData[2][0] = t * x * z + s * y;
cRotMatrix.m_afData[2][1] = t * y * z - s * x;
cRotMatrix.m_afData[2][2] = t * z * z + c;
cRotMatrix.m_afData[2][3] = 0.0;
cRotMatrix.m_afData[3][0] = 0.0;
cRotMatrix.m_afData[3][1] = 0.0;
cRotMatrix.m_afData[3][2] = 0.0;
cRotMatrix.m_afData[3][3] = 1.0;
*this = cRotMatrix * *this;
}
