// YOUR CODE HERE
// Given a vector n, form an orthogonal matrix with n as the last column, i.e.,
// a coordinate system aligned such that n is its local z axis.
static __forceinline Mat3f formBasis( const Vec3f& n )
{
Mat3f r;
Vec3f q, b, t;
// Get the minimum component of n
int minIdx = 0;
for (int i = 0; i < 3; ++i) {
if ( abs(n[i]) < abs(n[minIdx]) ) minIdx = i;
}
// Replace the minimum component by 1.0f and take a cross-product to get a vector perpendicular to n
q = n;
q[minIdx] = 1.0f;
t = (cross(q, n)).normalized();
// Get the last perpendicular vector by taking n x t
b = (cross(n, t)).normalized();
// Construct the rotation matrix
r.setCol(0, t);
r.setCol(1, b);
r.setCol(2, n);
return r;
}
void matrices2quats( int n ){
glBegin ( GL_POINTS );
for( int i=0; i<n; i++ ){
Mat3f M; M.fromRand( {randf(),randf(),randf()} );
Quat4f q; q.fromMatrix(M);
glVertex3f( (float)q.x, (float)q.y, (float)q.z );
}
glEnd();
}
Mat4f CameraControls::getWorldToCamera(void) const
{
Mat3f orient = getOrientation();
Vec3f pos = orient.transposed() * m_position;
Mat4f r;
r.setRow(0, Vec4f(orient.col(0), -pos.x));
r.setRow(1, Vec4f(orient.col(1), -pos.y));
r.setRow(2, Vec4f(orient.col(2), -pos.z));
return r;
}
Mat4f CameraControls::getCameraToWorld(void) const
{
Mat3f orient = getOrientation();
Mat4f r;
r.setCol(0, Vec4f(orient.col(0), 0.0f));
r.setCol(1, Vec4f(orient.col(1), 0.0f));
r.setCol(2, Vec4f(orient.col(2), 0.0f));
r.setCol(3, Vec4f(m_position, 1.0f));
return r;
}
Mat3f Quatf::rotation() const{
float ww = w*w, xx = x*x, yy = y*y, zz = z*z;
float wx = w*x, wy = w*y, wz = w*z;
float xy = x*y, xz = x*z;
float yz = y*z;
Mat3f mat;
mat.setRow(0, Vec3f(ww + xx - yy - zz , 2 * xy - 2 * wz , 2 * xz + 2 * wy));
mat.setRow(1, Vec3f(2 * xy + 2 * wz , ww - xx + yy - zz , 2 * yz - 2 * wx));
mat.setRow(2, Vec3f(2 * xz - 2 * wy , 2 * yz + 2 * wx , ww - xx - yy + zz));
return mat;
}
void computeAffineMap(
const Mat1f &scale_map,
const Mat1f &depth_map,
float sw,
float min_px_scale,
Mat3f& affine_map )
{
affine_map.create( depth_map.rows, depth_map.cols );
const float nan = std::numeric_limits<float>::quiet_NaN();
for ( int y = 0; y < depth_map.rows; y++ )
{
for ( int x = 0; x < depth_map.cols; ++x )
{
Vec2f grad;
const float sp = getScale(scale_map[y][x], sw);
if ( isnan(sp) || sp < min_px_scale ||
!computeGradient( depth_map, x, y, sp, grad ) )
{
affine_map[y][x][0] = nan;
affine_map[y][x][1] = nan;
affine_map[y][x][2] = nan;
}
else
{
getAffParams( sw, grad, affine_map[y][x] );
}
}
}
}
void computeAffineMapFixed(
const Mat1f &depth_map,
float sp,
float f,
Mat3f& affine_map )
{
affine_map.create( depth_map.rows, depth_map.cols );
const float sp_div_f = sp / f;
for ( int y = 0; y < depth_map.rows; y++ )
{
for ( int x = 0; x < depth_map.cols; ++x )
{
Vec2f grad;
if ( isnan(depth_map[y][x]) ||
!computeGradient( depth_map, x, y, sp, grad ) )
{
affine_map[y][x][0] = nan;
affine_map[y][x][1] = nan;
affine_map[y][x][2] = nan;
}
else
{
const float sw = sp_div_f * depth_map[y][x];
getAffParams( sw, grad, affine_map[y][x] );
}
}
}
}
Mat3f formBasis(const Vec3f& n) {
// YOUR CODE HERE (R3)
Mat3f R;
Vec3f Q = n;
float min = 99;
int ind = -1;
for(int i = 0; i<3; ++i)
if(abs(n[i]) < min)
{
min = abs(n[i]);
ind = i;
}
Q[ind] = 1;
Q.normalize();
Vec3f T = cross(Q, n).normalized();
Vec3f B = cross(n, T).normalized();
R.setCol(0, T);
R.setCol(1, B);
R.setCol(2, n);
float f = det(R);
return R;
}
Mat3f CameraControls::getOrientation(void) const
{
Mat3f r;
r.col(2) = -m_forward.normalized();
r.col(0) = m_up.cross(r.col(2)).normalized();
r.col(1) = ((Vec3f)r.col(2)).cross(r.col(0)).normalized();
return r;
}
bool CameraControls::handleEvent(const Window::Event& ev)
{
if (!m_commonControls)
fail("CameraControls attached to a window without CommonControls!");
CommonControls& cc = *m_commonControls;
FW_ASSERT(m_window == ev.window || ev.type == Window::EventType_AddListener);
// Initialize movement.
Mat3f orient = getOrientation();
Vec3f rotate = 0.0f;
Vec3f move = 0.0f;
// Handle events.
switch (ev.type)
{
case Window::EventType_AddListener:
FW_ASSERT(!m_window);
m_window = ev.window;
m_timer.unstart();
m_dragLeft = false;
m_dragMiddle = false;
m_dragRight = false;
cc.addStateObject(this);
addGUIControls();
repaint();
return false;
case Window::EventType_RemoveListener:
cc.removeStateObject(this);
removeGUIControls();
repaint();
m_window = NULL;
return false;
case Window::EventType_KeyDown:
if (ev.key == FW_KEY_MOUSE_LEFT) m_dragLeft = true;
if (ev.key == FW_KEY_MOUSE_MIDDLE) m_dragMiddle = true;
if (ev.key == FW_KEY_MOUSE_RIGHT) m_dragRight = true;
if (ev.key == FW_KEY_WHEEL_UP) m_speed *= 1.2f;
if (ev.key == FW_KEY_WHEEL_DOWN) m_speed /= 1.2f;
break;
case Window::EventType_KeyUp:
if (ev.key == FW_KEY_MOUSE_LEFT) m_dragLeft = false;
if (ev.key == FW_KEY_MOUSE_MIDDLE) m_dragMiddle = false;
if (ev.key == FW_KEY_MOUSE_RIGHT) m_dragRight = false;
break;
case Window::EventType_Mouse:
{
Vec3f delta = Vec3f((F32)ev.mouseDelta.x, (F32)-ev.mouseDelta.y, 0.0f);
if (m_dragLeft) rotate += delta * s_mouseRotateSpeed;
if (m_dragMiddle) move += delta * m_speed * s_mouseStrafeSpeed;
if (m_dragRight) move += Vec3f(0.0f, 0.0f, (F32)ev.mouseDelta.y) * m_speed * s_mouseStrafeSpeed;
}
break;
case Window::EventType_Paint:
{
F32 timeDelta = m_timer.end();
F32 boost = cc.getKeyBoost();
Vec3f rotateTmp = 0.0f;
bool alt = m_window->isKeyDown(FW_KEY_ALT);
if (m_window->isKeyDown(FW_KEY_A) || (m_window->isKeyDown(FW_KEY_LEFT) && alt)) move.x -= 1.0f;
if (m_window->isKeyDown(FW_KEY_D) || (m_window->isKeyDown(FW_KEY_RIGHT) && alt)) move.x += 1.0f;
if (m_window->isKeyDown(FW_KEY_F) || m_window->isKeyDown(FW_KEY_PAGE_DOWN)) move.y -= 1.0f;
if (m_window->isKeyDown(FW_KEY_R) || m_window->isKeyDown(FW_KEY_PAGE_UP)) move.y += 1.0f;
if (m_window->isKeyDown(FW_KEY_W) || (m_window->isKeyDown(FW_KEY_UP) && alt)) move.z -= 1.0f;
if (m_window->isKeyDown(FW_KEY_S) || (m_window->isKeyDown(FW_KEY_DOWN) && alt)) move.z += 1.0f;
if (m_window->isKeyDown(FW_KEY_LEFT) && !alt) rotateTmp.x -= 1.0f;
if (m_window->isKeyDown(FW_KEY_RIGHT) && !alt) rotateTmp.x += 1.0f;
if (m_window->isKeyDown(FW_KEY_DOWN) && !alt) rotateTmp.y -= 1.0f;
if (m_window->isKeyDown(FW_KEY_UP) && !alt) rotateTmp.y += 1.0f;
if (m_window->isKeyDown(FW_KEY_E) || m_window->isKeyDown(FW_KEY_HOME)) rotateTmp.z -= 1.0f;
if (m_window->isKeyDown(FW_KEY_Q) || m_window->isKeyDown(FW_KEY_INSERT)) rotateTmp.z += 1.0f;
move *= timeDelta * m_speed * boost;
rotate += rotateTmp * timeDelta * s_keyRotateSpeed * boost;
}
break;
default:
break;
}
// Apply movement.
if (m_enableMovement)
{
if (!move.isZero())
m_position += orient * move;
if (rotate.x != 0.0f || rotate.y != 0.0f)
{
Vec3f tmp = orient.col(2) * cos(rotate.x) - orient.col(0) * sin(rotate.x);
m_forward = (orient.col(1) * sin(rotate.y) - tmp * cos(rotate.y)).normalized();
if (!m_keepAligned)
m_up = (orient.col(1) * cos(rotate.y) + tmp * sin(rotate.y)).normalized();
else if (-m_forward.cross(m_up).dot(tmp.cross(m_up).normalized()) < s_inclinationLimit)
m_forward = -tmp.normalized();
}
if (rotate.z != 0.0f && !m_keepAligned)
{
Vec3f up = orient.transposed() * m_up;
m_up = orient * Vec3f(up.x * cos(rotate.z) - sin(rotate.z), up.x * sin(rotate.z) + up.y * cos(rotate.z), up.z);
}
}
// Apply alignment.
if (m_alignY)
m_up = Vec3f(0.0f, 1.0f, 0.0f);
m_alignY = false;
if (m_alignZ)
m_up = Vec3f(0.0f, 0.0f, 1.0f);
m_alignZ = false;
// Update stereo mode.
if (hasFeature(Feature_StereoControls))
{
GLContext::Config config = m_window->getGLConfig();
config.isStereo = (m_enableStereo && GLContext::isStereoAvailable());
m_window->setGLConfig(config);
}
// Repaint continuously.
if (ev.type == Window::EventType_Paint)
repaint();
return false;
}
void setUniform (int loc, const Mat3f& v) { if (loc >= 0) glUniformMatrix3fv(loc, 1, false, v.getPtr()); }