//
// applyCameraAngle()
// Rotation to match omni frame with camera view.
//
// Precondition: pos is a position vector in the Omni frame.
// Postcondition: pos is a position vector in the camera view frame.
//
void applyCameraAngle(hduMatrix &xform){
double c1 = cos(-th1*DEGREES), c2 = cos(-th2*DEGREES), c3 = cos(th3*DEGREES);
double s1 = sin(-th1*DEGREES), s2 = sin(-th2*DEGREES), s3 = sin(th3*DEGREES);
hduMatrix R( c1*c3+s1*s2*s3 , c3*s1*s2-c1*s3 , c2*s1 , 0,
c2*s3 , c2*c3 , -1*s2 , 0,
c1*s2*s3-c3*s1 , c1*c3*s2+s1*s3 , c1*c2 , 0,
0 , 0 , 0 , 1);
xform = xform.multRight(R);
// Print rotation matrix
//cout << R[0][0] << "\t" << R[0][1] << "\t" << R[0][2] << "\n";
//cout << R[1][0] << "\t" << R[1][1] << "\t" << R[1][2] << "\n";
//cout << R[2][0] << "\t" << R[2][1] << "\t" << R[2][2] << "\n" <<"\n";
// Matrix-vector multiply R.p
//for (int i = 0; i<4; i++){
// temp[i]=0;
// for (int j=0; j<4; j++){
// temp[i] += R[i][j]*pos[3][j];
// }
//}
//// Set output
//for (int i = 0; i<3; i++){
// pos[3][i] = temp[i];
//}
}
void omni2ITPTransform(hduMatrix & xform)
{
const hduMatrix omni2ITP_x( 0 , 1 , 0 , 0 ,
0 , 0 , -1 , 0 ,
-1 , 0 , 0 , 0 ,
0 , 0 , 0 , 1 );
const hduMatrix omni2ITP( 0 , 0 , -1 , 0 ,
1 , 0 , 0 , 0 ,
0 , -1 , 0 , 0 ,
0 , 0 , 0 , 1 );
xform.multRight(omni2ITP);
}
void omni2ITPTransform(hduMatrix & xform , int devID)
{
if (devID == OMNI1){
const hduMatrix omni2ITP( 0 , 1 , 0 , 0 ,
0 , 0 , -1 , 0 ,
-1 , 0 , 0 , 0 ,
0 , 0 , 0 , 1 );
xform.multRight(omni2ITP);
}
if (devID == OMNI2){
const hduMatrix omni2ITP( 0 , 1 , 0 , 0 ,
0 , 0 , -1 , 0 ,
-1 , 0 , 0 , 0 ,
0 , 0 , 0 , 1 );
xform.multRight(omni2ITP);
}
/*const hduMatrix omni2ITP_x( 0 , 0 , -1 , 0 ,
1 , 0 , 0 , 0 ,
0 , -1 , 0 , 0 ,
0 , 0 , 0 , 1 );*/
}
/*******************************************************************************
GLUT callback for mouse motion, which is used for controlling the view
rotation and scaling.
*******************************************************************************/
void glutMotion(int x, int y)
{
if (gIsRotatingCamera)
{
static const double kTrackBallRadius = 0.8;
hduVector3Dd lastPos;
lastPos[0] = gLastMouseX * 2.0 / gWindowWidth - 1.0;
lastPos[1] = (gWindowHeight - gLastMouseY) * 2.0 / gWindowHeight - 1.0;
lastPos[2] = projectToTrackball(kTrackBallRadius, lastPos[0], lastPos[1]);
hduVector3Dd currPos;
currPos[0] = x * 2.0 / gWindowWidth - 1.0;
currPos[1] = (gWindowHeight - y) * 2.0 / gWindowHeight - 1.0;
currPos[2] = projectToTrackball(kTrackBallRadius, currPos[0], currPos[1]);
currPos.normalize();
lastPos.normalize();
hduVector3Dd rotateVec = lastPos.crossProduct(currPos);
double rotateAngle = asin(rotateVec.magnitude());
if (!hduIsEqual(rotateAngle, 0.0, DBL_EPSILON))
{
hduMatrix deltaRotation = hduMatrix::createRotation(
rotateVec, rotateAngle);
gCameraRotation.multRight(deltaRotation);
updateCamera();
}
}
else if (gIsScalingCamera)
{
float y1 = gWindowHeight - gLastMouseY;
float y2 = gWindowHeight - y;
gCameraScale *= 1 + (y1 - y2) / gWindowHeight;
updateCamera();
}
gLastMouseX = x;
gLastMouseY = y;
}