Matrix4x4 OrbitCamera::getFilmToWorld(int width, int height) {
//compute the rotation transform
V3 pos = getPos();
V3 dir = center - pos;
Vector3 look = Vector3(dir.x, dir.y, dir.z);
Vector3 w = (look / look.getMagnitude());
Vector3 tmp_up = Vector3(up.x, up.y, up.z);
Vector3 u = (tmp_up.cross(w))/((tmp_up.cross(w))).getMagnitude();
Vector3 v = w.cross(u);
Matrix4x4 rotate = Matrix4x4::identity();
rotate.a = u.x;
rotate.b = u.y;
rotate.c = u.z;
rotate.e = v.x;
rotate.f = v.y;
rotate.g = v.z;
rotate.i = w.x;
rotate.j = w.y;
rotate.k = w.z;
//compute translation transform
Matrix4x4 translate = getInvTransMat(Vector4(pos.x, pos.y, pos.z, 1));
return (rotate * translate).getInverse();
}
// @returns the rotation matrix around the vector and point by the specified angle
//the angle is in degrees
Matrix4x4 getRotMat (const Vector4 &p, const Vector4 &v, const REAL a) {
/* cout<<"point in: "<<p.x<<" "<<p.y<<" "<<p.z<<" "<<p.w<<endl;
cout<<"vec in:"<<v.x<<" "<<v.y<<" "<<v.z<<" "<<v.w<<endl;
cout<<"angle in:"<<a<<endl;*/
Matrix4x4 trans = getTransMat(p);
Matrix4x4 invtrans = getInvTransMat(p);
REAL theta = atan2(v.z,v.x);
REAL phi = -1 * atan2(v.y , sqrt(v.x*v.x + v.z*v.z));
Matrix4x4 M1 = getRotYMat(theta);
Matrix4x4 M2 = getRotZMat(phi);
Matrix4x4 M2Inv = getInvRotZMat(phi);
Matrix4x4 M1Inv = getInvRotYMat(theta);
//Matrix4x4 M3 = getRotXMat(M_PI*a/180);
Matrix4x4 M3 = getRotXMat(a);
Matrix4x4 toReturn = trans * M1Inv * M2Inv * M3 * M2 * M1 * invtrans;
return toReturn;
//return trans * M1 * M2 * M3 * M2Inv * M1Inv * invtrans;
}
// @returns the rotation matrix around the vector and point by the specified angle
Matrix4x4 getRotMat (const Vector4 &p, const Vector4 &v, const REAL a) {
// [CAMTRANS] Fill this in...
REAL theta = atan2(v.z,v.x);
REAL lambda = a;
REAL phi = -atan2(v.y, sqrt(v.x*v.x+v.z*v.z));
Matrix4x4 To = getInvTransMat(p);// translate to origin
Matrix4x4 M1 = getRotYMat(theta);
Matrix4x4 M2 = getRotZMat(phi);
Matrix4x4 M3 = getRotXMat(lambda);
Matrix4x4 M1inv = getInvRotYMat(theta);
Matrix4x4 M2inv = getInvRotZMat(phi);
Matrix4x4 M = M1inv*M2inv*M3*M2*M1;// full rotation matrix
Matrix4x4 ToInv = getTransMat(p);//translate back to point
Matrix4x4 finalmat = ToInv*M*To;//translate to origin, rotate, and then translate back to point
return finalmat;
}
// @returns the rotation matrix around the vector and point by the specified angle
Matrix4x4 getRotMat (const Vector4 &p, const Vector4 &v, const REAL a) {
// @TODO: [CAMTRANS] Fill this in...
const REAL y = atan2(v.z,v.x), z = -atan2(v.y,std::sqrt(SQ(v.x)+SQ(v.z)));
const Matrix4x4 M1 = getRotYMat(y), M1_inv = getInvRotYMat(y),
M2 = getRotZMat(z), M2_inv = getInvRotZMat(z),
M3 = getRotXMat(a);
return getInvTransMat(-p)*M1_inv*M2_inv*M3*M2*M1*getTransMat(-p);
}
// @returns the rotation matrix around the vector and point by the specified angle
Matrix4x4 getRotMat (const Vector4 &p, const Vector4 &v, const REAL a) {
// angles to rotate v to x-axis
REAL th = atan2(v.z,v.x),
ph = -atan2(v.y,sqrt(pow(v.z,2)+pow(v.x,2)));
// all transformations required
// Note: Inverse of Rot mat is just transpose
Matrix4x4 T = getInvTransMat(p),
Tinv = getTransMat(p),
M1 = getRotYMat(th),
M2 = getRotZMat(ph),
M3 = getRotXMat(a);
return Tinv * M1.getTranspose() * M2.getTranspose()
* M3 * M2 * M1 * T;
}
// @returns the inverse rotation matrix around the vector and point by the specified angle
Matrix4x4 getInvRotMat (const Point3 &p, const Vector3 &v, const real_t a) {
const real_t vZ = v[2];
const real_t vX = v[0];
const real_t theta = atan2(vZ, vX);
const real_t phi = -atan2(v[1], sqrt(vX * vX + vZ * vZ));
const Matrix4x4 &transToOrigin = getInvTransMat(Vector3(p[0], p[1], p[2]));
const Matrix4x4 &A = getRotYMat(theta);
const Matrix4x4 &B = getRotZMat(phi);
const Matrix4x4 &C = getRotXMat(a);
const Matrix4x4 &invA = getInvRotYMat(theta);
const Matrix4x4 &invB = getInvRotZMat(phi);
const Matrix4x4 &transBack = getTransMat(Vector3(p[0], p[1], p[2]));
return transBack * (invA * invB * C * B * A).getTranspose() * transToOrigin;
}
// @returns the rotation matrix around the vector and point by the specified angle
Matrix4x4 getRotMat (const Vector4 &p, const Vector4 &v, const REAL a) {
// [PASS]
REAL theta = atan2(v.z, v.x);
REAL phi = -atan2(v.y, sqrt(v.x*v.x + v.z*v.z));
// translate to the origin and back
Matrix4x4 Mt = getTransMat(-p);
Matrix4x4 Mt_1 = getInvTransMat(-p);
Matrix4x4 M1 = getRotYMat(theta);
Matrix4x4 M2 = getRotZMat(phi);
Matrix4x4 M3 = getRotXMat(a);
Matrix4x4 M1_1 = getInvRotYMat(theta);
Matrix4x4 M2_1 = getInvRotZMat(phi);
return Mt_1*M1_1*M2_1*M3*M2*M1*Mt;
}
void CamtransCamera::updateModelViewMatrix()
{
Matrix4x4 translate = Matrix4x4::identity();
translate = getInvTransMat(m_eyePosition);
Matrix4x4 rotate = Matrix4x4::identity();
rotate.data[0] = m_u.x;
rotate.data[1] = m_u.y;
rotate.data[2] = m_u.z;
rotate.data[4] = m_v.x;
rotate.data[5] = m_v.y;
rotate.data[6] = m_v.z;
rotate.data[8] = m_n.x;
rotate.data[9] = m_n.y;
rotate.data[10] = m_n.z;
m_modelView = rotate*translate;
}
// @returns the inverse rotation matrix around the vector and
// point by the specified angle
Matrix4x4 getInvRotMat (const Vector4 &h, const Vector4 &a, const REAL lambda) {
// @DONE: [CAMTRANS] Filled in.
double theta = atan2(a.z, a.x);
double phi = -atan2(a.y, sqrt(a.x*a.x + a.z*a.z));
//want to translate by -h to move from h to the origin
Matrix4x4 Th = getTransMat(-h);
Matrix4x4 M1Inv = getInvRotYMat(theta);
Matrix4x4 M2Inv = getInvRotZMat(phi);
Matrix4x4 M3Inv = getInvRotXMat(lambda);
Matrix4x4 M2 = getRotZMat(phi);
Matrix4x4 M1 = getRotYMat(theta);
Matrix4x4 ThInv = getInvTransMat(-h);
Matrix4x4 result = ThInv * M1Inv * M2Inv * M3Inv * M2 * M1 * Th;
return result;
}
