MtMatrix3 MtMatrix3::GetTranspose() const
{
return MtMatrix3( _00,_10,_20,
_01,_11,_21,
_02,_12,_22
);
}
MtMatrix3 operator*(MtMatrix3 &m, BtFloat s)
{
return MtMatrix3( m._00*s,
m._01*s,
m._02*s,
m._10*s,
m._11*s,
m._12*s,
m._20*s,
m._21*s,
m._22*s);
}
MtMatrix3 operator/(MtMatrix3 &m, BtFloat s)
{
return MtMatrix3( m._00/s,
m._01/s,
m._02/s,
m._10/s,
m._11/s,
m._12/s,
m._20/s,
m._21/s,
m._22/s);
}
MtMatrix3 operator-(MtMatrix3 &m1, MtMatrix3 &m2)
{
return MtMatrix3( m1._00-m2._00,
m1._01-m2._01,
m1._02-m2._02,
m1._10-m2._10,
m1._11-m2._11,
m1._12-m2._12,
m1._20-m2._20,
m1._21-m2._21,
m1._22-m2._22);
}
MtMatrix3 operator+(MtMatrix3 &m1, MtMatrix3 &m2)
{
return MtMatrix3( m1._00+m2._00,
m1._01+m2._01,
m1._02+m2._02,
m1._10+m2._10,
m1._11+m2._11,
m1._12+m2._12,
m1._20+m2._20,
m1._21+m2._21,
m1._22+m2._22);
}
MtMatrix3 MtMatrix3::operator * ( const MtMatrix3& m2) const
{
return MtMatrix3( _00*m2._00 + _01*m2._10 + _02*m2._20 ,
_00*m2._01 + _01*m2._11 + _02*m2._21 ,
_00*m2._02 + _01*m2._12 + _02*m2._22 ,
_10*m2._00 + _11*m2._10 + _12*m2._20 ,
_10*m2._01 + _11*m2._11 + _12*m2._21 ,
_10*m2._02 + _11*m2._12 + _12*m2._22 ,
_20*m2._00 + _21*m2._10 + _22*m2._20 ,
_20*m2._01 + _21*m2._11 + _22*m2._21 ,
_20*m2._02 + _21*m2._12 + _22*m2._22 );
}
MtMatrix3 MtMatrix3::GetInverse() const
{
BtFloat d = _00*_11*_22 -
_00*_21*_12 +
_10*_21*_02 -
_10*_01*_22 +
_20*_01*_12 -
_20*_11*_02;
if (d == 0) d = 1;
return MtMatrix3( (_11*_22-_12*_21)/d,
-(_01*_22-_02*_21)/d,
(_01*_12-_02*_11)/d,
-(_10*_22-_12*_20)/d,
(_00*_22-_02*_20)/d,
-(_00*_12-_02*_10)/d,
(_10*_21-_11*_20)/d,
-(_00*_21-_01*_20)/d,
(_00*_11-_01*_10)/d );
}
// Public functions ///////////////////////////////////////////////////////////
MtMatrix3 Quaternion2Matrix(MtQuaternion &q)
{
return MtMatrix3(q);
}
void pgCamera::Update()
{
if (ApConfig::IsWin())
{
static BtBool isLoaded = BtFalse;
if (isLoaded == BtFalse)
{
// If we have a previously saved version of the camera then load
FsFile file;
BtChar filename[64];
sprintf(filename, "%s%s", ApConfig::GetDocuments(), "camera.txt");
file.Open(filename, FsMode_Read);
if (file.IsOpen())
{
file.Read(m_cameraData);
file.Close();
}
isLoaded = BtTrue;
}
}
if (UiKeyboard::pInstance()->IsPressed(UiKeyCode_F3))
{
m_isFlyCam = !m_isFlyCam;
}
for (BtU32 i = 1; i < MaxTouches; i += 2)
{
if (ShTouch::IsHeld(i) || m_isFlyCam)
{
BtFloat speed = BtTime::GetTick() * 10.0f;
if (UiKeyboard::pInstance()->IsHeld(UiKeyCode_LSHIFT))
{
speed = speed * 10.0f;
}
if (UiKeyboard::pInstance()->IsHeld(UiKeyCode_W))
{
MoveForward(speed);
}
if (UiKeyboard::pInstance()->IsHeld(UiKeyCode_S))
{
MoveBackward(speed);
}
if (UiKeyboard::pInstance()->IsHeld(UiKeyCode_D))
{
MoveRight(speed);
}
if (UiKeyboard::pInstance()->IsHeld(UiKeyCode_A))
{
MoveLeft(speed);
}
}
}
if (ShTouch::IsHeld(1))
{
BtBool onScreen = BtTrue;//ShTouch::OnScreen(1);
if (onScreen)
{
for (BtU32 i = 0; i < MaxTouches; i += 2)
{
// Rotate the camera
MtVector2 v2MouseDirection = ShTouch::GetMovement(i);
BtFloat speed = BtTime::GetTick() * 0.1f;
MtMatrix3 m3Rotate;
m3Rotate.SetRotationY(v2MouseDirection.x * -speed);
m_cameraData.m_m3Rotation = m3Rotate * m_cameraData.m_m3Rotation;
m3Rotate.SetRotationX(v2MouseDirection.y * speed);
m_cameraData.m_m3Rotation = m_cameraData.m_m3Rotation * m3Rotate;
}
}
}
static BtBool isCursorKeys = BtFalse;
// Rotate the camera
BtFloat speed = BtTime::GetTick();
if (UiKeyboard::pInstance()->IsHeld(UiKeyCode_LSHIFT))
{
if (UiKeyboard::pInstance()->IsHeld(UiKeyCode_LEFT))
{
isCursorKeys = BtTrue;
m_cameraData.m_yaw += speed;
}
if (UiKeyboard::pInstance()->IsHeld(UiKeyCode_RIGHT))
{
isCursorKeys = BtTrue;
m_cameraData.m_yaw -= speed;
}
if (UiKeyboard::pInstance()->IsHeld(UiKeyCode_UP))
{
isCursorKeys = BtTrue;
m_cameraData.m_pitch -= speed;
}
if (UiKeyboard::pInstance()->IsHeld(UiKeyCode_DOWN))
{
isCursorKeys = BtTrue;
m_cameraData.m_pitch += speed;
}
}
if (!ApConfig::IsWin())
{
// Support a landscape quaternion
MtMatrix3 m_m3Rotation;
MtQuaternion quaternion = ShIMU::GetQuaternion(0);
quaternion.x = quaternion.x;
quaternion.y = quaternion.y;
quaternion.z = -quaternion.z;
m_m3Rotation = MtMatrix3(quaternion);
//m_m3Rotation = m_m3Rotation.GetInverse();
MtMatrix3 m3RotateY;
m3RotateY.SetRotationY(MtDegreesToRadians(90.0f));
MtMatrix3 m3RotateZ;
m3RotateZ.SetRotationZ(MtDegreesToRadians(-90.0f));
m_m3Rotation = m3RotateY * m_m3Rotation;
m_m3Rotation = m3RotateZ * m_m3Rotation;
m_m3Rotation = m_m3Rotation * m3RotateZ;
m_camera.SetRotation(m_m3Rotation);
}
else if (ShHMD::IsHMD())
{
MtMatrix3 m3RotateY;
m3RotateY.SetRotationX(m_cameraData.m_pitch);
MtMatrix3 m3RotateX;
m3RotateX.SetRotationY(m_cameraData.m_yaw);
m_cameraData.m_m3Rotation = m3RotateX * m3RotateY;
// Cache the ShHMD rotation
MtQuaternion quaternion = ShHMD::GetQuaternion();
// Set the IMU rotation
MtMatrix4 m4FinalRotation = m_cameraData.m_m3Rotation * MtMatrix3(quaternion);
// Set the rotation
m_camera.SetRotation(m4FinalRotation);
}
else
{
if (isCursorKeys)
{
MtMatrix3 m3RotateY;
m3RotateY.SetRotationX(m_cameraData.m_pitch);
MtMatrix3 m3RotateX;
m3RotateX.SetRotationY(m_cameraData.m_yaw);
m_cameraData.m_m3Rotation = m3RotateX * m3RotateY;
}
// Set the rotation
m_camera.SetRotation(m_cameraData.m_m3Rotation);
}
// Set the position
m_camera.SetPosition(m_cameraData.m_v3Position);
// Update the camera
m_camera.Update();
if (UiKeyboard::pInstance()->IsPressed(SaveCameraKey))
{
FsFile file;
BtChar filename[64];
sprintf(filename, "%s%s", ApConfig::GetDocuments(), "camera.txt");
file.Open(filename, FsMode_Write);
if (file.IsOpen())
{
file.Write(m_cameraData);
file.Close();
}
}
}