/*
构造旋转矩阵
*/
void angleMatrix(Vector v, Matrix *m){
//定义中间变量
float cr,cp,cy,sr,sp,sy;
float tempAngle;
/*
计算roll，pitch，yaw角的cos，sin值，用来构造旋转矩阵
*/
//yaw:表示围绕y轴的旋转，但数值是向量在XOZ面上的投影与z负的夹角
tempAngle = v.z;
sy = sin(tempAngle);
cy = cos(tempAngle);
//pitch:表示围绕x轴的旋转，但数值是向量在YOZ面上的投影与z负的夹角
tempAngle = v.y;
sp = sin(tempAngle);
cp = cos(tempAngle);
//roll:表示围绕y轴的旋转，但数值是向量在XOY面上的投影与y正的夹角
tempAngle = v.x;
sr = sin(tempAngle);
cr = cos(tempAngle);
/*
构造旋转矩阵，tips：要按照列序构造才符合D-H坐标要求
*/
/*Vector xBasis(cp*cy,sr*sp*cy+cr*-sy,(cr*sp*cy+-sr*-sy));
Vector yBasis(cp*sy,sr*sp*sy+cr*cy,(cr*sp*sy+-sr*cy));
Vector zBasis(-sp,sr*cp,cr*cp);*/
Vector xBasis(cp*cy,cp*sy,-sp);
Vector yBasis(sr*sp*cy+cr*-sy,sr*sp*sy+cr*cy,sr*cp);
Vector zBasis((cr*sp*cy+-sr*-sy),(cr*sp*sy+-sr*cy),cr*cp);
m->xBasis = xBasis;
m->yBasis = yBasis;
m->zBasis = zBasis;
/*m->origin = origin;*/
}
//------------------------------------------------------------------------------------------------
void ChsModelViewCamera::update(){
if( !this->isNeedUpdate ){
return;
}
this->isNeedUpdate = false;
// Change the radius from the camera to the model based on wheel scrolling
if( this->zoomDelta ){
this->radius -= this->zoomDelta * this->radius * 0.001f;
}
this->radius = this->maxRadius < this->radius ? this->maxRadius : this->radius;
this->radius = this->minRadius > this->radius ? this->minRadius : this->radius;
this->zoomDelta = 0;
// Transform vectors based on camera's rotation matrix
// Update the eye point based on a radius away from the lookAt position
this->position = this->target - worldAhead * this->radius;
// Update the view matrix
this->mtxView.lookAt( this->position, this->target, worldUp );
ChsMatrix mInvView = this->mtxView;
mInvView.inverse();
mInvView._m41 = mInvView._m42 = mInvView._m43 = 0.0f;
ChsMatrix mModelLastRotInv = this->mtxModelLastRotate;
mModelLastRotInv.inverse();
ChsMatrix mModelRot = worldArcBall.getRotationMatrix();
ChsMatrix temp = this->mtxView * mModelLastRotInv * mModelRot * mInvView;
this->mxtModelRotate *= temp;
this->mtxModelLastRotate = mModelRot;
// Since we're accumulating delta rotations, we need to orthonormalize
// the matrix to prevent eventual matrix skew
ChsVector3 xBasis(this->mxtModelRotate._m11, this->mxtModelRotate._m12, this->mxtModelRotate._m13 );
ChsVector3 yBasis(this->mxtModelRotate._m21, this->mxtModelRotate._m22, this->mxtModelRotate._m23 );
ChsVector3 zBasis(this->mxtModelRotate._m31, this->mxtModelRotate._m32, this->mxtModelRotate._m33 );
xBasis.normalize();
yBasis = ChsVector3::cross(zBasis, xBasis);
yBasis.normalize();
zBasis = ChsVector3::cross(xBasis, yBasis);
this->mxtModelRotate._m11 = xBasis.x;
this->mxtModelRotate._m12 = xBasis.y;
this->mxtModelRotate._m13 = xBasis.z;
this->mxtModelRotate._m21 = yBasis.x;
this->mxtModelRotate._m22 = yBasis.y;
this->mxtModelRotate._m23 = yBasis.z;
this->mxtModelRotate._m31 = zBasis.x;
this->mxtModelRotate._m32 = zBasis.y;
this->mxtModelRotate._m33 = zBasis.z;
// Translate the rotation matrix to the same position as the lookAt position
this->mxtModelRotate._m41 = this->target.x;
this->mxtModelRotate._m42 = this->target.y;
this->mxtModelRotate._m43 = this->target.z;
// Translate world matrix so its at the center of the model
ChsMatrix mTrans;
mTrans.translation( - this->modelCenter );
this->mtxWorld = this->mxtModelRotate * mTrans;
this->mtxWVP = this->mtxWorld * this->mtxView * this->mtxProjection;
}