Transform LookAt(const Point &pos, const Point &look, const Vector &up) {
float m[4][4];
// Initialize fourth column of viewing matrix
m[0][3] = pos.x;
m[1][3] = pos.y;
m[2][3] = pos.z;
m[3][3] = 1;
// Initialize first three columns of viewing matrix
Vector dir = Normalize(look - pos);
if (Cross(Normalize(up), dir).Length() == 0) {
Error("\"up\" vector (%f, %f, %f) and viewing direction (%f, %f, %f) "
"passed to LookAt are pointing in the same direction. Using "
"the identity transformation.", up.x, up.y, up.z, dir.x, dir.y,
dir.z);
return Transform();
}
Vector left = Normalize(Cross(Normalize(up), dir));
Vector newUp = Cross(dir, left);
m[0][0] = left.x;
m[1][0] = left.y;
m[2][0] = left.z;
m[3][0] = 0.;
m[0][1] = newUp.x;
m[1][1] = newUp.y;
m[2][1] = newUp.z;
m[3][1] = 0.;
m[0][2] = dir.x;
m[1][2] = dir.y;
m[2][2] = dir.z;
m[3][2] = 0.;
Matrix4x4 camToWorld(m);
return Transform(Inverse(camToWorld), camToWorld);
}
Transform LookAt(const Point &pos, const Point &look, const Vector &up) {
float m[4][4];
// Initialize fourth column of viewing matrix
m[0][3] = pos.x;
m[1][3] = pos.y;
m[2][3] = pos.z;
m[3][3] = 1;
// Initialize first three columns of viewing matrix
Vector dir = Normalize(look - pos);
Vector left = Normalize(Cross(Normalize(up), dir));
Vector newUp = Cross(dir, left);
m[0][0] = left.x;
m[1][0] = left.y;
m[2][0] = left.z;
m[3][0] = 0.;
m[0][1] = newUp.x;
m[1][1] = newUp.y;
m[2][1] = newUp.z;
m[3][1] = 0.;
m[0][2] = dir.x;
m[1][2] = dir.y;
m[2][2] = dir.z;
m[3][2] = 0.;
Matrix4x4 camToWorld(m);
return Transform(Inverse(camToWorld), camToWorld);
}
Transform Transform::LookAt(const Point& pos, const Point& look, const Vector& up) {
Vector forward = (look - pos).Normalize();
Vector left = up.Normalize().Cross(forward);
Vector newUp = forward.Cross(left);
float m[4][4];
m[0][0] = left.x;
m[1][0] = left.y;
m[2][0] = left.z;
m[3][0] = 0;
m[0][1] = newUp.x;
m[1][1] = newUp.y;
m[2][1] = newUp.z;
m[3][1] = 0;
m[0][2] = forward.x;
m[1][2] = forward.y;
m[2][2] = forward.z;
m[3][2] = 0;
m[0][3] = pos.x;
m[1][3] = pos.y;
m[2][3] = pos.z;
m[3][3] = 1;
Matrix4x4 camToWorld(m);
return Transform(Matrix4x4::Inverse(camToWorld), camToWorld);
}
Transform LookAt(const Point &pos, const Point &look, const Vector &up) {
float m[4][4];
// Initialize fourth column of viewing matrix
m[0][3] = pos.x;
m[1][3] = pos.y;
m[2][3] = pos.z;
m[3][3] = 1;
Vector dir = Normalize(look - pos);
Vector right = Normalize(Cross(dir, up));
Vector newUp = Cross(right, dir);
m[0][0] = right.x;
m[1][0] = right.y;
m[2][0] = right.z;
m[3][0] = 0.;
m[0][1] = newUp.x;
m[1][1] = newUp.y;
m[2][1] = newUp.z;
m[3][1] = 0.;
m[0][2] = dir.x;
m[1][2] = dir.y;
m[2][2] = dir.z;
m[3][2] = 0.;
Matrix4x4 camToWorld(m);
return Transform(camToWorld.Inverse(), camToWorld);
}
//! renvoie la transformation camera (View).
Transform LookAt( const Point &pos, const Point &look, const Vector &up )
{
float m[4][4];
#if 0
// import from pbrt-v2
// Initialize first three columns of viewing matrix
Vector dir = Normalize(look - pos);
Vector left = Cross(Normalize(up), dir);
Vector newUp = Cross(dir, left);
m[0][0] = left.x;
m[1][0] = left.y;
m[2][0] = left.z;
m[3][0] = 0.f;
m[0][1] = newUp.x;
m[1][1] = newUp.y;
m[2][1] = newUp.z;
m[3][1] = 0.f;
m[0][2] = dir.x;
m[1][2] = dir.y;
m[2][2] = dir.z;
m[3][2] = 0.f;
#endif
#if 1
// pbrt-v1
// Initialize first three columns of viewing matrix
Vector dir = Normalize( Vector(pos, look) );
Vector right = Normalize( Cross(dir, Normalize(up)) );
Vector newUp = Normalize( Cross(right, dir) );
m[0][0] = right.x;
m[1][0] = right.y;
m[2][0] = right.z;
m[3][0] = 0.f;
m[0][1] = newUp.x;
m[1][1] = newUp.y;
m[2][1] = newUp.z;
m[3][1] = 0.f;
m[0][2] = -dir.x; // opengl convention, look down the negative z axis
m[1][2] = -dir.y;
m[2][2] = -dir.z;
m[3][2] = 0.f;
#endif
// Initialize fourth column of viewing matrix
m[0][3] = pos.x;
m[1][3] = pos.y;
m[2][3] = pos.z;
m[3][3] = 1.f;
Matrix4x4 camToWorld(m);
return Transform( camToWorld.getInverse(), camToWorld );
}
Transform LookAt(const pbrt::Point &pos, const pbrt::Point &look, const Vector &up) {
float m[4][4];
// Initialize fourth column of viewing matrix
m[0][3] = pos.x;
m[1][3] = pos.y;
m[2][3] = pos.z;
m[3][3] = 1;
// Left-hand coordinate system for the camera
// Initialize first three columns of viewing matrix
/* Vector dir = Normalize(look - pos);
Vector left = Normalize(Cross(Normalize(up), dir));
Vector newUp = Cross(dir, left);
m[0][0] = left.x;
m[1][0] = left.y;
m[2][0] = left.z;
m[3][0] = 0.;
m[0][1] = newUp.x;
m[1][1] = newUp.y;
m[2][1] = newUp.z;
m[3][1] = 0.;
m[0][2] = dir.x;
m[1][2] = dir.y;
m[2][2] = dir.z;
m[3][2] = 0.;
*/
// Right-hand coordinate system for the camera
Vector dir = -Normalize(look - pos);
Vector right = Normalize( Cross(Normalize(up), dir));
Vector newUp = Cross(dir, right);
m[0][0] = right.x;
m[1][0] = right.y;
m[2][0] = right.z;
m[3][0] = 0.;
m[0][1] = newUp.x;
m[1][1] = newUp.y;
m[2][1] = newUp.z;
m[3][1] = 0.;
m[0][2] = dir.x;
m[1][2] = dir.y;
m[2][2] = dir.z;
m[3][2] = 0.;
Matrix4x4 camToWorld(m);
return Transform(Inverse(camToWorld), camToWorld); // LookAt() is the inverse to the camtoWorld transformation
}
//--------------------------------------------------------------
void testApp::draw(){
// Display background
ofSetColor(255, 255, 255, 50);
img.draw(0, 0, ofGetWidth(), ofGetHeight());
// Draw ball
ofSetColor(255, 150, 0);
ofCircle(ballPositionX, ballPositionY, 10);
/************ DRAW PARTICLE SYSTEM ***********************/
particleSystem.setTimeStep(timeStep);
ofEnableAlphaBlending();
ofSetColor(251, 236, 93, lineOpacity);
particleSystem.setupForces();
// apply per-particle forces
glBegin(GL_LINES);
for(int i = 0; i < particleSystem.size(); i++) {
Particle& cur = particleSystem[i];
// global force on other particles
particleSystem.addRepulsionForce(cur, particleNeighborhood, particleRepulsion);
// forces on this particle
cur.bounceOffWalls(0, 0, ofGetWidth(), ofGetHeight());
cur.addDampingForce();
}
glEnd();
// Apply attraction to selected points
for (int i=0; i < attractPts.size(); i++) {
particleSystem.addAttractionForce(attractPts[i]->x, attractPts[i]->y, ofGetWidth(), centerAttraction);
}
// Add repulsion force by mouse click
if(isMousePressed)
particleSystem.addRepulsionForce(mouseX, mouseY, 100, 10);
// Set the ball to repulse
particleSystem.addRepulsionForce(ballPositionX, ballPositionY, 25, 10);
particleSystem.update();
ofSetColor(255, 255, 255, pointOpacity);
particleSystem.draw();
ofDisableAlphaBlending();
ofSetColor(255, 255, 255);
//ofDrawBitmapString(ofToString(kParticles) + "k particles", 32, 32);
//ofDrawBitmapString(ofToString((int) ofGetFrameRate()) + " fps", 32, 52);
// draw depth and color view
//kinect.drawDepth(10, 10, 200, 150);
//kinect.draw(220, 10, 200, 150);
//colorImg.mirror(false, true);
//colorImg.draw(100,100);
/************ DRAW POINT CLOUD ***********************/
// draw point cloud
pointCloudX = 800;
pointCloudY = 800;
ofSetColor(0, 0, 0);
ofPushMatrix();
ofTranslate(pointCloudX, pointCloudY);
drawPointCloud();
ofPopMatrix();
// Make attraction with point
/*for (int i=0; i < cloudPts.size(); i++) {
particleSystem.addAttractionForce(cloudPts[i]->x + 800, cloudPts[i]->y + 650, 25, 1);
//printf("Point Clouds: %f %f \n", cloudPts[i]->x, cloudPts[i]->y);
} */
// Rotate drawing
if(depthContours.blobs.size() == 2) {
ofxVec2f center = depthContours.blobs[0].centroid + depthContours.blobs[1].centroid;
ofxVec2f targetViewRot;
targetViewRot.x = ofMap(center.x, 0, ofGetWidth(), -360, 360);
targetViewRot.y = ofMap(center.y, 0, ofGetHeight(), 360, -360);
viewRot += (targetViewRot - viewRot) * 0.05;
} else {
viewRot -= viewRot * 0.05;
}
ofxVec3f camToWorld(ofGetWidth()/depthOrig.getWidth(), ofGetHeight()/depthOrig.getHeight(), 1);
ofxVec3f up(0, 1, 0);
gui.draw();
/********** Calculate 2D Coordinate from 3D Space ********/
GLdouble screenX = 0;
GLdouble screenY = 0;
GLdouble screenZ = 0;
GLint viewport[4];
GLdouble mvmatrix[16], projmatrix[16];
glGetIntegerv(GL_VIEWPORT, viewport);
glGetDoublev(GL_MODELVIEW_MATRIX, mvmatrix);
glGetDoublev(GL_PROJECTION_MATRIX, projmatrix);
gluProject(pointCloudX, pointCloudY, -3000,
mvmatrix, projmatrix, viewport,
&screenX, &screenY, &screenZ);
screenY = ofGetHeight() - screenY;
// Draws contours on the screen
depthContours.draw(screenX, screenY, 640, 480);
}
