void CTouchFreeCamera::Update(float dt)
{
if(m_isDragging)
{
float deltaX = m_dragPosition.x - m_mousePosition.x;
float deltaY = m_dragPosition.y - m_mousePosition.y;
m_cameraHAngle = m_dragHAngle + deltaX * 0.015f;
m_cameraVAngle = m_dragVAngle + deltaY * 0.015f;
m_cameraVAngle = std::min<float>(m_cameraVAngle, M_PI / 2);
m_cameraVAngle = std::max<float>(m_cameraVAngle, -M_PI / 2);
}
CMatrix4 yawMatrix(CMatrix4::MakeAxisYRotation(m_cameraHAngle));
CMatrix4 pitchMatrix(CMatrix4::MakeAxisXRotation(m_cameraVAngle));
CMatrix4 rotationMatrix = yawMatrix * pitchMatrix;
if(m_isStrafingLeft || m_isStrafingRight)
{
CVector3 rightVector = CVector3(1, 0, 0) * rotationMatrix;
float direction = m_isStrafingLeft ? (-1.0f) : (1.0f);
m_cameraPosition += (rightVector * direction * MOVE_SPEED * dt);
}
if(m_isMovingForward || m_isMovingBackward)
{
CVector3 forwardVector = CVector3(0, 0, 1) * rotationMatrix;
float direction = m_isMovingForward ? (-1.0f) : (1.0f);
m_cameraPosition += (forwardVector * direction * MOVE_SPEED * dt);
}
CMatrix4 translationMatrix(CMatrix4::MakeTranslation(-m_cameraPosition.x, -m_cameraPosition.y, -m_cameraPosition.z));
CMatrix4 totalMatrix = translationMatrix * rotationMatrix;
SetViewMatrix(totalMatrix);
}
void CActorViewer::Update(float dt)
{
{
if(m_commandMode == COMMAND_MODE_DRAG_CAMERA)
{
float deltaX = m_dragPosition.x - m_mousePosition.x;
float deltaY = m_dragPosition.y - m_mousePosition.y;
m_cameraHAngle = m_dragHAngle + deltaX * 0.015f;
m_cameraVAngle = m_dragVAngle + deltaY * 0.015f;
m_cameraVAngle = std::min<float>(m_cameraVAngle, M_PI / 2);
m_cameraVAngle = std::max<float>(m_cameraVAngle, -M_PI / 2);
}
CMatrix4 yawMatrix(CMatrix4::MakeAxisYRotation(m_cameraHAngle));
CMatrix4 pitchMatrix(CMatrix4::MakeAxisXRotation(m_cameraVAngle));
CMatrix4 rotationMatrix = yawMatrix * pitchMatrix;
if(m_actorRotationNode)
{
m_actorRotationNode->SetRotation(rotationMatrix);
}
}
m_mainViewport->GetSceneRoot()->Update(dt);
m_mainViewport->GetSceneRoot()->UpdateTransformations();
if(m_debugOverlay)
{
m_debugOverlay->Update(dt);
}
m_elapsed += dt;
}
void Object::rotateInAxisX(GLfloat pitchAngle)
{
mat4 pitchMatrix(1.0f);
vec3 origin_aux = origin;
translate(-origin_aux);
pitchMatrix = rotate(pitchMatrix, pitchAngle, axisX);
axisX = vec3(pitchMatrix * vec4(axisX, 1.0f));
axisY = vec3(pitchMatrix * vec4(axisY, 1.0f));
axisZ = vec3(pitchMatrix * vec4(axisZ, 1.0f));
transformations = pitchMatrix * transformations;
translate(origin_aux);
}
void dCustomBallAndSocket::Debug(dDebugDisplay* const debugDisplay) const
{
dMatrix matrix0;
dMatrix matrix1;
dCustomJoint::Debug(debugDisplay);
CalculateGlobalMatrix(matrix0, matrix1);
const dVector& coneDir0 = matrix0.m_front;
const dVector& coneDir1 = matrix1.m_front;
dFloat cosAngleCos = coneDir0.DotProduct3(coneDir1);
dMatrix coneRotation(dGetIdentityMatrix());
if (cosAngleCos < 0.9999f) {
dVector lateralDir(coneDir1.CrossProduct(coneDir0));
dFloat mag2 = lateralDir.DotProduct3(lateralDir);
//dAssert(mag2 > 1.0e-4f);
if (mag2 > 1.0e-4f) {
lateralDir = lateralDir.Scale(1.0f / dSqrt(mag2));
coneRotation = dMatrix(dQuaternion(lateralDir, dAcos(dClamp(cosAngleCos, dFloat(-1.0f), dFloat(1.0f)))), matrix1.m_posit);
} else {
lateralDir = matrix0.m_up.Scale(-1.0f);
coneRotation = dMatrix(dQuaternion(matrix0.m_up, 180 * dDegreeToRad), matrix1.m_posit);
}
} else if (cosAngleCos < -0.9999f) {
coneRotation[0][0] = -1.0f;
coneRotation[1][1] = -1.0f;
}
const int subdiv = 18;
const dFloat radius = debugDisplay->m_debugScale;
dVector arch[subdiv + 1];
// show twist angle limits
if (m_options.m_option0 && ((m_maxTwistAngle - m_minTwistAngle) > dFloat(1.0e-3f))) {
dMatrix pitchMatrix(matrix1 * coneRotation);
pitchMatrix.m_posit = matrix1.m_posit;
dVector point(dFloat(0.0f), dFloat(radius), dFloat(0.0f), dFloat(0.0f));
dFloat angleStep = dMin (m_maxTwistAngle - m_minTwistAngle, dFloat (2.0f * dPi)) / subdiv;
dFloat angle0 = m_minTwistAngle;
debugDisplay->SetColor(dVector(0.6f, 0.2f, 0.0f, 0.0f));
for (int i = 0; i <= subdiv; i++) {
arch[i] = pitchMatrix.TransformVector(dPitchMatrix(angle0).RotateVector(point));
debugDisplay->DrawLine(pitchMatrix.m_posit, arch[i]);
angle0 += angleStep;
}
for (int i = 0; i < subdiv; i++) {
debugDisplay->DrawLine(arch[i], arch[i + 1]);
}
}
// show cone angle limits
if (m_options.m_option2) {
dVector point(radius * dCos(m_maxConeAngle), radius * dSin(m_maxConeAngle), 0.0f, 0.0f);
dFloat angleStep = dPi * 2.0f / subdiv;
dFloat angle0 = 0.0f;
debugDisplay->SetColor(dVector(0.3f, 0.8f, 0.0f, 0.0f));
for (int i = 0; i <= subdiv; i++) {
dVector conePoint(dPitchMatrix(angle0).RotateVector(point));
dVector p(matrix1.TransformVector(conePoint));
arch[i] = p;
debugDisplay->DrawLine(matrix1.m_posit, p);
angle0 += angleStep;
}
for (int i = 0; i < subdiv; i++) {
debugDisplay->DrawLine(arch[i], arch[i + 1]);
}
}
}