void QRGivensRotations(double ***A, double ***Q, double ***R) {
double **G;
int i, j;
double c, s;
mallocMatrix(&G);
copyArray(R, A);
setEye(Q);
// Algorytm qr Givens rotations
for(j=0; j<SIZE; j++) //kolumny
for(i=SIZE - 1; i > j; i--) { //wiersze
// #mozna zrownoleglic dwie instrukcje
setEye(&G);
givensRotation((*R)[i-1][j], (*R)[i][j], &c, &s);
setMatrixG(&G, i, j, c, s);
// #mozna zrownoleglic dwie instrukcje ponizej
multiplyMatrixToSecondWithTransposition(&G, R);
multiplyMatrixToFirst(Q, &G);
}
// printMatrix(&Q," Q ROZWIAZANIE");
// printMatrix(&R," R ROZWIAZANIE");
freeMatrix(&G);
return;
}
void Z3DCamera::azimuth(float angle)
{
glm::vec3 eye = m_eye - m_center;
eye = glm::rotate(glm::angleAxis(angle, m_upVector), eye);
eye += m_center;
setEye(eye);
}
void Camera::RenderLookAtToCubeMap(const vec3& eye, unsigned int nFace)
{
assert(nFace < 6);
// Tableau de vecteurs "Center" pour la caméra :
vec3 TabCenter[6] = { vec3(eye.x+1.0f, eye.y, eye.z),
vec3(eye.x-1.0f, eye.y, eye.z),
vec3(eye.x, eye.y+1.0f, eye.z),
vec3(eye.x, eye.y-1.0f, eye.z),
vec3(eye.x, eye.y, eye.z+1.0f),
vec3(eye.x, eye.y, eye.z-1.0f) };
// Tableau de vecteurs "Up" pour la caméra :
static vec3 TabUp[6] = { vec3(0.0f, -1.0f, 0.0f),
vec3(0.0f, -1.0f, 0.0f),
vec3(0.0f, 0.0f, 1.0f),
vec3(0.0f, 0.0f, -1.0f),
vec3(0.0f, -1.0f, 0.0f),
vec3(0.0f, -1.0f, 0.0f) };
setEye( eye );
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
gluLookAt( eye.x, eye.y, eye.z,
TabCenter[nFace].x, TabCenter[nFace].y, TabCenter[nFace].z,
TabUp[nFace].x, TabUp[nFace].y, TabUp[nFace].z );
Frustum::getInstance().Extract(eye);
}
/// creates translation and rotation matrix according to euler angles and transition vector
void CMat44::createTRMatrix(float alpha, float beta, float gamma, float trans_x, float trans_y, float trans_z){
setEye();
CMat44 rotX,rotY,rotZ;
rotX.setEye();
rotY.setEye();
rotZ.setEye();
rotX.setElement(cos(alpha),2,2);
rotX.setElement(-sin(alpha),2,3);
rotX.setElement(sin(alpha),3,2);
rotX.setElement(cos(alpha),3,3);
rotY.setElement(cos(beta),1,1);
rotY.setElement(sin(beta),1,3);
rotY.setElement(-sin(beta),3,1);
rotY.setElement(cos(beta),3,3);
rotZ.setElement(cos(gamma),1,1);
rotZ.setElement(-sin(gamma),1,2);
rotZ.setElement(sin(gamma),2,1);
rotZ.setElement(cos(gamma),2,2);
*this=rotX*rotY*rotZ;
setElement(trans_x,1,4);
setElement(trans_y,2,4);
setElement(trans_z,3,4);
orientation[0]=alpha; orientation[1]=beta; orientation[2]=gamma;
}
void display(void)
{
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
setEye();
glutSolidSphere (1.0, 20, 16);
glFlush ();
}
void Z3DCameraParameter::flipViewDirection()
{
glm::vec3 referenceCenter = getCenter();
glm::vec3 eyePosition = getEye();
glm::vec3 viewVector = eyePosition - referenceCenter;
setEye(referenceCenter - viewVector);
}
void Z3DCamera::dolly(float value)
{
if (value <= 0.f || (m_centerDist < 1.0f && value > 1.f))
return;
glm::vec3 pos = m_center - m_viewVector * (m_centerDist / value);
float maxV = 1e15;
if (std::abs(pos.x) < maxV && std::abs(pos.y) < maxV && std::abs(pos.z) < maxV )
setEye(pos);
}
void Camera::lookAt(
const double (&eye)[3],
const double (¢er)[3],
const double (&up)[3]
) {
setEye(eye);
setCenter(center);
setUp(up);
}
void OrbitCamera::update(float dt)
{
float r = (_radius + _deltaRadius * dt) * FLT_EPSILON;
float za = _radZ + _radDeltaZ * dt;
float xa = _radX + _radDeltaX * dt;
float i = sinf(za) * cosf(xa) * r + _center.x;
float j = sinf(za) * sinf(xa) * r + _center.y;
float k = cosf(za) * r + _center.z;
setEye(i,j,k);
}
/*
* display()
* ------
* Display the scene
*/
void display()
{
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glLoadIdentity();
/* setup functions */
setEye();
/* draw */
drawAxes();
drawValues();
/* magic here */
drawShape();
glFlush();
glutSwapBuffers();
}
/*
* display()
* ------
* Display the scene
*/
void display()
{
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glLoadIdentity();
/* setup functions */
setEye();
/* draw */
drawAxes();
drawValues();
/* magic here */
/*
cube(1,0,1, 1,1,1, 0);
cube(-1,0,1, 1,1,1, 0);
cone(0,1,0, 1,1,DEF_D);
cone(0,-1,0, 1,1,90);
*/
/* a 'tower' */
/*
cube(0,1.5,0, 1,3,1, 0);
cube(0,3.5,0, 2,1,2, 45);
spike(0,1,-3.5, 0.5,1, 90, 90,0,0);
spike(0,1,3.5, 0.5,1, 90, -90,0,0);
spike(-3.5,1,0, 0.5,1, 90, 0,0,-90);
spike(3.5,1,0, 0.5,1, 90, 0,0,90);
*/
tower(0,0,0, 1,1,1, 0);
tower(4,0,0, 1,1,1.5, 30);
glFlush();
glutSwapBuffers();
}
void CameraForGL::setEye(vect3f v)
{
setEye(v.x, v.y, v.z);
}
CMat44::CMat44()
{
memset(pos, 0, sizeof(pos));
setEye();
}
void sgct_core::Viewport::configure(tinyxml2::XMLElement * element)
{
if (element->Attribute("user") != NULL)
setUserName(element->Attribute("user"));
if (element->Attribute("name") != NULL)
setName(element->Attribute("name"));
if (element->Attribute("overlay") != NULL)
setOverlayTexture(element->Attribute("overlay"));
//for backward compability
if (element->Attribute("mask") != NULL)
setBlendMaskTexture(element->Attribute("mask"));
if (element->Attribute("BlendMask") != NULL)
setBlendMaskTexture(element->Attribute("BlendMask"));
if (element->Attribute("BlackLevelMask") != NULL)
setBlackLevelMaskTexture(element->Attribute("BlackLevelMask"));
if (element->Attribute("mesh") != NULL)
setCorrectionMesh(element->Attribute("mesh"));
if (element->Attribute("hint") != NULL)
mMeshHint.assign(element->Attribute("hint"));
if (element->Attribute("tracked") != NULL)
setTracked(strcmp(element->Attribute("tracked"), "true") == 0 ? true : false);
//get eye if set
if (element->Attribute("eye") != NULL)
{
if (strcmp("center", element->Attribute("eye")) == 0)
{
setEye(Frustum::MonoEye);
}
else if (strcmp("left", element->Attribute("eye")) == 0)
{
setEye(Frustum::StereoLeftEye);
}
else if (strcmp("right", element->Attribute("eye")) == 0)
{
setEye(Frustum::StereoRightEye);
}
}
const char * val;
tinyxml2::XMLElement * subElement = element->FirstChildElement();
while (subElement != NULL)
{
val = subElement->Value();
float fTmp[2];
fTmp[0] = 0.0f;
fTmp[1] = 0.0f;
if (strcmp("Pos", val) == 0)
{
if (subElement->QueryFloatAttribute("x", &fTmp[0]) == tinyxml2::XML_NO_ERROR &&
subElement->QueryFloatAttribute("y", &fTmp[1]) == tinyxml2::XML_NO_ERROR)
setPos(fTmp[0], fTmp[1]);
else
sgct::MessageHandler::instance()->print(sgct::MessageHandler::NOTIFY_ERROR, "Viewport: Failed to parse position from XML!\n");
}
else if (strcmp("Size", val) == 0)
{
if (subElement->QueryFloatAttribute("x", &fTmp[0]) == tinyxml2::XML_NO_ERROR &&
subElement->QueryFloatAttribute("y", &fTmp[1]) == tinyxml2::XML_NO_ERROR)
setSize(fTmp[0], fTmp[1]);
else
sgct::MessageHandler::instance()->print(sgct::MessageHandler::NOTIFY_ERROR, "Viewport: Failed to parse size from XML!\n");
}
else if (strcmp("PlanarProjection", val) == 0)
{
parsePlanarProjection(subElement);
}//end if planar projection
else if (strcmp("FisheyeProjection", val) == 0)
{
parseFisheyeProjection(subElement);
}
else if (strcmp("SphericalMirrorProjection", val) == 0)
{
parseSphericalMirrorProjection(subElement);
}
else if (strcmp("Viewplane", val) == 0 || strcmp("Projectionplane", val) == 0)
{
mProjectionPlane.configure(subElement);
}
//iterate
subElement = subElement->NextSiblingElement();
}
}
void Camera::setView(const QVector3D &eye, const QVector3D ¢er, const QVector3D &up)
{
setEye(eye);
setCenter(center);
setUp(up);
}
GLCamera::GLCamera() {
setEye({0., 0., 1.});
setCenter({0., 0., 0.});
setUp({0., 1., 0.});
}
void RenderCamera::update(const GameCamera & camera)
{
setEye(camera.eye());
setCenter(camera.center());
setUp(camera.up());
}
