[136] | 1 | // This file is part of Eigen, a lightweight C++ template library
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| 2 | // for linear algebra.
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| 3 | //
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| 4 | // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
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| 5 | //
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| 6 | // This Source Code Form is subject to the terms of the Mozilla
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| 7 | // Public License v. 2.0. If a copy of the MPL was not distributed
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| 8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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| 9 |
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| 10 | #ifndef EIGEN_CAMERA_H
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| 11 | #define EIGEN_CAMERA_H
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| 12 |
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| 13 | #include <Eigen/Geometry>
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| 14 | #include <QObject>
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| 15 | // #include <frame.h>
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| 16 |
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| 17 | class Frame
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| 18 | {
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| 19 | public:
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| 20 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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| 21 |
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| 22 | inline Frame(const Eigen::Vector3f& pos = Eigen::Vector3f::Zero(),
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| 23 | const Eigen::Quaternionf& o = Eigen::Quaternionf())
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| 24 | : orientation(o), position(pos)
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| 25 | {}
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| 26 | Frame lerp(float alpha, const Frame& other) const
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| 27 | {
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| 28 | return Frame((1.f-alpha)*position + alpha * other.position,
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| 29 | orientation.slerp(alpha,other.orientation));
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| 30 | }
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| 31 |
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| 32 | Eigen::Quaternionf orientation;
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| 33 | Eigen::Vector3f position;
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| 34 | };
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| 35 |
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| 36 | class Camera
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| 37 | {
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| 38 | public:
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| 39 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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| 40 |
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| 41 | Camera(void);
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| 42 |
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| 43 | Camera(const Camera& other);
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| 44 |
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| 45 | virtual ~Camera();
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| 46 |
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| 47 | Camera& operator=(const Camera& other);
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| 48 |
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| 49 | void setViewport(uint offsetx, uint offsety, uint width, uint height);
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| 50 | void setViewport(uint width, uint height);
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| 51 |
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| 52 | inline uint vpX(void) const { return mVpX; }
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| 53 | inline uint vpY(void) const { return mVpY; }
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| 54 | inline uint vpWidth(void) const { return mVpWidth; }
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| 55 | inline uint vpHeight(void) const { return mVpHeight; }
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| 56 |
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| 57 | inline float fovY(void) const { return mFovY; }
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| 58 | void setFovY(float value);
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| 59 |
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| 60 | void setPosition(const Eigen::Vector3f& pos);
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| 61 | inline const Eigen::Vector3f& position(void) const { return mFrame.position; }
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| 62 |
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| 63 | void setOrientation(const Eigen::Quaternionf& q);
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| 64 | inline const Eigen::Quaternionf& orientation(void) const { return mFrame.orientation; }
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| 65 |
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| 66 | void setFrame(const Frame& f);
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| 67 | const Frame& frame(void) const { return mFrame; }
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| 68 |
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| 69 | void setDirection(const Eigen::Vector3f& newDirection);
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| 70 | Eigen::Vector3f direction(void) const;
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| 71 | void setUp(const Eigen::Vector3f& vectorUp);
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| 72 | Eigen::Vector3f up(void) const;
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| 73 | Eigen::Vector3f right(void) const;
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| 74 |
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| 75 | void setTarget(const Eigen::Vector3f& target);
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| 76 | inline const Eigen::Vector3f& target(void) { return mTarget; }
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| 77 |
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| 78 | const Eigen::Affine3f& viewMatrix(void) const;
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| 79 | const Eigen::Matrix4f& projectionMatrix(void) const;
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| 80 |
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| 81 | void rotateAroundTarget(const Eigen::Quaternionf& q);
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| 82 | void localRotate(const Eigen::Quaternionf& q);
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| 83 | void zoom(float d);
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| 84 |
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| 85 | void localTranslate(const Eigen::Vector3f& t);
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| 86 |
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| 87 | /** Setup OpenGL matrices and viewport */
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| 88 | void activateGL(void);
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| 89 |
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| 90 | Eigen::Vector3f unProject(const Eigen::Vector2f& uv, float depth, const Eigen::Matrix4f& invModelview) const;
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| 91 | Eigen::Vector3f unProject(const Eigen::Vector2f& uv, float depth) const;
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| 92 |
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| 93 | protected:
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| 94 | void updateViewMatrix(void) const;
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| 95 | void updateProjectionMatrix(void) const;
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| 96 |
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| 97 | protected:
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| 98 |
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| 99 | uint mVpX, mVpY;
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| 100 | uint mVpWidth, mVpHeight;
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| 101 |
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| 102 | Frame mFrame;
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| 103 |
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| 104 | mutable Eigen::Affine3f mViewMatrix;
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| 105 | mutable Eigen::Matrix4f mProjectionMatrix;
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| 106 |
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| 107 | mutable bool mViewIsUptodate;
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| 108 | mutable bool mProjIsUptodate;
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| 109 |
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| 110 | // used by rotateAroundTarget
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| 111 | Eigen::Vector3f mTarget;
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| 112 |
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| 113 | float mFovY;
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| 114 | float mNearDist;
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| 115 | float mFarDist;
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| 116 | };
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| 117 |
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| 118 | #endif // EIGEN_CAMERA_H
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