void dPluginCamera::SetMatrix (dFloat yaw, dFloat roll, dFloat distance)
{
// dMatrix yawMatrix_ (dYawMatrix(yaw));
// dMatrix rollMatrix_ (dRollMatrix(roll));
// m_matrix = rollMatrix_ * yawMatrix_;
// m_matrix.m_posit = dVector (-10.0f, 5.0f, 10.0f, 1.0f);
m_cameraRoll = dClamp(roll, -85.0f * 3.141692f / 180.0f, 85.0f * 3.141692f / 180.0f);
m_cameraYaw = dMod (yaw, 2.0f * 3.141592f);
m_distance = (distance < 0.5f) ? 0.5f : distance;
dMatrix yawMatrix (dYawMatrix(m_cameraYaw));
dMatrix rollMatrix (dRollMatrix(m_cameraRoll));
m_matrix = rollMatrix * yawMatrix;
m_matrix.m_posit = m_matrix.RotateVector(dVector (-distance, 0.0f, 0.0f, 1.0f)) + m_pointOfInterest;
m_matrix.m_posit.m_w = 1.0f;
}
void Object::rotateInAxisZ(GLfloat rollAngle)
{
mat4 rollMatrix(1.0f);
vec3 origin_aux = origin;
translate(-origin_aux);
rollMatrix = rotate(rollMatrix, rollAngle, axisZ);
axisX = vec3(rollMatrix * vec4(axisX, 1.0f));
axisY = vec3(rollMatrix * vec4(axisY, 1.0f));
axisZ = vec3(rollMatrix * vec4(axisZ, 1.0f));
transformations = rollMatrix * transformations;
translate(origin_aux);
}
//-------------------------------------------------------
/// Returns the rotation matrix of the bone.
///
/// Each bone defines its own coordinate system.
/// The position of the coordinates depend on the
/// coordinates of the bone (head, tail) and a 'roll' value.
/// BoneRotation returns a rotation matrix which describes
/// the rotation of the bone-coordinate-system relativ to
/// its parent bone.
/// See Avatara.doc for more information and illustrations.
///
/// \param head The head vector.
/// \param tail The tail vector.
/// \param roll The roll in radiant.
/// \return Rotation matrix.
//-------------------------------------------------------
Matrix BoneRotation(Vector head, Vector tail, float roll)
{
Vector boneVector(tail - head);
boneVector.Normalize();
// Axis of rotation
Vector axis = CrossProduct(UnitVectorY, boneVector);
Matrix rotation(IdentityMatrix);
// check if axis exists (crossproduct might be 0!)
if(axis.Length() > EPSILON)
{
// Rotation axis exists
// calculate rotation
axis.Normalize();
float theta = acos(DotProduct(UnitVectorY, boneVector));
rotation.SetRotation(axis, theta);
}
else
{
// Rotation axis does not exist.
// boneVector either points in the same direction as y-unit-vector
// or in the opposite direction.
if(DotProduct(UnitVectorY, boneVector) < 0)
{
// boneVector points in opposite direction:
rotation.M(0, 0) = -1.0;
rotation.M(1, 1) = -1.0;
}
}
// Roll matrix
Matrix rollMatrix(IdentityMatrix);
rollMatrix.SetRotation(boneVector, roll);
return rollMatrix * rotation;
}