void WorldNode::Rotate(const Quaternion& Rotation, const Mezzanine::TransformSpace& TS)
{
Quaternion NormRot = Rotation.GetNormalizedCopy();
switch(TS)
{
case Mezzanine::TS_World:
SetLocalOrientation(NormRot * GetLocalOrientation());
break;
case Mezzanine::TS_Parent:// This...I don't even...
SetLocalOrientation(GetLocalOrientation() * GetOrientation().GetInverse() * NormRot * GetOrientation());
break;
default:
case Mezzanine::TS_Local:
SetLocalOrientation(GetLocalOrientation() * NormRot);
break;
}
}
void Transform::LookAt(float x, float y, float z,
float lookAtX, float lookAtY, float lookAtZ)
{
Vector3 up(0.f, 1.f, 0.f);
Vector3 from(x, y, z);
Vector3 to(lookAtX, lookAtY, lookAtZ);
// create the look at matrix.
cachedTransform = Matrix4::CreateLookAt(from, to, up);
// Set the orientation in the transform from the look at matrix
SetLocalOrientation(cachedTransform.GetRotation());
SetPosition(from);
needUpdate(true);
}
//
// 设置世界朝向
//
VOID CSceneNode::SetWorldOrientation(FLOAT x, FLOAT y, FLOAT z, FLOAT w)
{
if (m_pParentNode) {
// 算法:
// worldOrientation = localOrientation * parentOrientation
// localOrientation = worldOrientation * parentOrientationInv
QUAT parentOrientationInv;
QuatInverse(&parentOrientationInv, m_pParentNode->GetWorldOrientation());
QUAT localOrientation;
QUAT worldOrientation;
QuatSet(&worldOrientation, x, y, z, w);
QuatMul(&localOrientation, &worldOrientation, &parentOrientationInv);
x = localOrientation[0];
y = localOrientation[1];
z = localOrientation[2];
w = localOrientation[3];
}
SetLocalOrientation(x, y, z, w);
}
void Transform::FPS(Vector3 pos, float pitch, float yaw)
{
/*
float cosPitch = cos(pitch);
float sinPitch = sin(pitch);
float cosYaw = cos(yaw);
float sinYaw = sin(yaw);
Vector3 xaxis(cosYaw, 0, -sinYaw);
Vector3 yaxis(sinYaw * sinPitch, cosPitch, cosYaw * sinPitch);
Vector3 zaxis(sinYaw * cosPitch, -sinPitch, cosPitch * cosYaw);
cachedTransform = Matrix4(
xaxis.x, xaxis.y, xaxis.z, -xaxis.Dot(pos),
yaxis.x, yaxis.y, yaxis.z, -yaxis.Dot(pos),
zaxis.x, zaxis.y, zaxis.z, -zaxis.Dot(pos),
0, 0, 0, 1);
SetPosition(cachedTransform.GetTranslation());
SetLocalOrientation(cachedTransform.GetRotation());
Quaternion currentRot = derivedOrientation;
Vector3 xAxis, yAxis, zAxis;
currentRot.ToAxes(xAxis, yAxis, zAxis);
Quaternion yawQ = Quaternion(yAxis, yaw);
Quaternion pitchQ = Quaternion(xAxis, pitch);
Quaternion finalRot = pitchQ * yawQ;
finalRot = finalRot * currentRot;
finalRot.Normalise();
*/
// Calculate using glm
glm::vec3 gPos(pos.x, pos.y, pos.z);
glm::vec3 dir(
cos(pitch) * sin(yaw),
sin(pitch),
cos(pitch) * cos(yaw)
);
//glm::vec3 up(up.x, up.y, up.z);
glm::vec3 right(
sin(yaw - 3.14159f/2.0f),
0,
cos(yaw - 3.14159/2.0f)
);
glm::vec3 up = glm::cross(right, dir);
glm::mat4 vMat = glm::lookAt(gPos, gPos + dir, up);
Matrix4 gViewMat;
int i = 0;
for (int r = 0; r < 4; r++)
{
glm::vec4 row = vMat[r];
for (int c = 0; c < 4; c++)
{
gViewMat[i++] = row[c];
}
}
SetPosition(pos);
SetLocalOrientation(gViewMat);
//derivedOrientation = finalRot;
needUpdate(true);
}
