// This file is part of Eigen, a lightweight C++ template library // for linear algebra. Eigen itself is part of the KDE project. // // Copyright (C) 2008 Gael Guennebaud // // Eigen is free software; you can redistribute it and/or // modify it under the terms of the GNU Lesser General Public // License as published by the Free Software Foundation; either // version 3 of the License, or (at your option) any later version. // // Alternatively, you can redistribute it and/or // modify it under the terms of the GNU General Public License as // published by the Free Software Foundation; either version 2 of // the License, or (at your option) any later version. // // Eigen is distributed in the hope that it will be useful, but WITHOUT ANY // WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS // FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the // GNU General Public License for more details. // // You should have received a copy of the GNU Lesser General Public // License and a copy of the GNU General Public License along with // Eigen. If not, see . #ifndef EIGEN_CAMERA_H #define EIGEN_CAMERA_H #include #include // #include class Frame { public: inline Frame(const Eigen::Vector3f& pos = Eigen::Vector3f::Zero(), const Eigen::Quaternionf& o = Eigen::Quaternionf()) : orientation(o), position(pos) {} Frame lerp(float alpha, const Frame& other) const { return Frame((1.f-alpha)*position + alpha * other.position, orientation.slerp(alpha,other.orientation)); } Eigen::Quaternionf orientation; Eigen::Vector3f position; }; class Camera { public: Camera(void); Camera(const Camera& other); virtual ~Camera(); Camera& operator=(const Camera& other); void setViewport(uint offsetx, uint offsety, uint width, uint height); void setViewport(uint width, uint height); inline uint vpX(void) const { return mVpX; } inline uint vpY(void) const { return mVpY; } inline uint vpWidth(void) const { return mVpWidth; } inline uint vpHeight(void) const { return mVpHeight; } inline float fovY(void) const { return mFovY; } void setFovY(float value); void setPosition(const Eigen::Vector3f& pos); inline const Eigen::Vector3f& position(void) const { return mFrame.position; } void setOrientation(const Eigen::Quaternionf& q); inline const Eigen::Quaternionf& orientation(void) const { return mFrame.orientation; } void setFrame(const Frame& f); const Frame& frame(void) const { return mFrame; } void setDirection(const Eigen::Vector3f& newDirection); Eigen::Vector3f direction(void) const; void setUp(const Eigen::Vector3f& vectorUp); Eigen::Vector3f up(void) const; Eigen::Vector3f right(void) const; void setTarget(const Eigen::Vector3f& target); inline const Eigen::Vector3f& target(void) { return mTarget; } const Eigen::Transform3f& viewMatrix(void) const; const Eigen::Matrix4f& projectionMatrix(void) const; void rotateAroundTarget(const Eigen::Quaternionf& q); void localRotate(const Eigen::Quaternionf& q); void zoom(float d); void localTranslate(const Eigen::Vector3f& t); /** Setup OpenGL matrices and viewport */ void activateGL(void); Eigen::Vector3f unProject(const Eigen::Vector2f& uv, float depth, const Eigen::Matrix4f& invModelview) const; Eigen::Vector3f unProject(const Eigen::Vector2f& uv, float depth) const; protected: void updateViewMatrix(void) const; void updateProjectionMatrix(void) const; protected: uint mVpX, mVpY; uint mVpWidth, mVpHeight; Frame mFrame; mutable Eigen::Transform3f mViewMatrix; mutable Eigen::Matrix4f mProjectionMatrix; mutable bool mViewIsUptodate; mutable bool mProjIsUptodate; // used by rotateAroundTarget Eigen::Vector3f mTarget; float mFovY; float mNearDist; float mFarDist; }; #endif // EIGEN_CAMERA_H