void CoordinateFrame::getXYZYPRRadians(float& x, float& y, float& z,
float& yaw, float& pitch, float& roll) const {
x = translation.x;
y = translation.y;
z = translation.z;
const Vector3& look = lookVector();
if (abs(look.y) > 0.99f) {
// Looking nearly straight up or down
yaw = G3D::pi() + atan2(look.x, look.z);
pitch = asin(look.y);
roll = 0.0f;
} else {
// Yaw cannot be affected by others, so pull it first
yaw = G3D::pi() + atan2(look.x, look.z);
// Pitch is the elevation of the yaw vector
pitch = asin(look.y);
Vector3 actualRight = rightVector();
Vector3 expectedRight = look.cross(Vector3::unitY());
roll = 0;//acos(actualRight.dot(expectedRight)); TODO
}
}
void Camera::move(float elapsedMsecs)
{
// Quit if the camera is not moving in any direction
if(!_movementFlags)
return;
const bool front= _movementFlags & (1 << Front);
const bool right= _movementFlags & (1 << Right);
const bool back = _movementFlags & (1 << Back );
const bool left = _movementFlags & (1 << Left );
const QVector3D lookDir= lookVector();
// For left/right sidestep, rotate the XZ projection of lookDir
QVector3D sideStep(0, 0, 0);
if(right xor left) {
QTransform transform;
transform.rotate(90.0f * (right-left));
const QPointF rotated= transform.map(QPointF(lookDir.x(), lookDir.z()));
sideStep= QVector3D(rotated.x(), 0, rotated.y()).normalized();
}
const QVector3D moveDir= ((front-back) * lookDir + sideStep).normalized();
_position += elapsedMsecs/1e6d * _moveSpeed * moveDir;
updateViewMatrix();
}
Ray CoordinateFrame::lookRay() const {
return Ray::fromOriginAndDirection(translation, lookVector());
}
Ray CoordinateFrame::lookRay() const {
return Ray(translation,lookVector());
}
void Camera::updateViewMatrix()
{
_viewMatrix.setToIdentity();
_viewMatrix.lookAt(_position, _position + lookVector(), QVector3D(0,1,0));
}
