107 lines
3.0 KiB
C++
107 lines
3.0 KiB
C++
#ifndef camera_hpp
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#define camera_hpp
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#include "../../eigen/Eigen/Dense"
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#include <cmath>
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#include "../basicdefines.hpp"
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using Eigen::Vector3f;
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using Eigen::Matrix3f;
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struct Camera {
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Vector3f origin;
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Vector3f direction;
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Vector3f up;
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float fov;
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Camera(const Vector3f& pos, const Vector3f& viewdir, const Vector3f& up, float fov = 80)
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: origin(pos), direction(viewdir), up(up.normalized()), fov(fov) {}
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void rotateYaw(float angle) {
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float cosA = cos(angle);
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float sinA = sin(angle);
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Vector3f right = direction.cross(up).normalized();
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// Rotate around up vector (yaw)
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Matrix3f rotation;
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rotation = Eigen::AngleAxisf(angle, up);
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direction = rotation * direction;
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}
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void rotatePitch(float angle) {
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// Clamp pitch to avoid gimbal lock
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Vector3f right = direction.cross(up).normalized();
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// Rotate around right vector (pitch)
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Matrix3f rotation;
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rotation = Eigen::AngleAxisf(angle, right);
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direction = rotation * direction;
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direction.normalize();
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// Recalculate up vector to maintain orthogonality
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up = right.cross(direction).normalized();
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}
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Vector3f forward() const {
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return direction.normalized();
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}
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Vector3f right() const {
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return forward().cross(up).normalized();
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}
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float fovRad() const {
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return fov * (M_PI / 180.0f);
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}
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// Additional useful methods
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void moveForward(float distance) {
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origin += forward() * distance;
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}
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void moveRight(float distance) {
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origin += right() * distance;
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}
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void moveUp(float distance) {
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origin += up * distance;
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}
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// Get view matrix (lookAt matrix)
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Eigen::Matrix4f getViewMatrix() const {
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Vector3f f = forward();
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Vector3f r = right();
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Vector3f u = up;
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Eigen::Matrix4f view = Eigen::Matrix4f::Identity();
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view(0, 0) = r.x(); view(0, 1) = r.y(); view(0, 2) = r.z();
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view(1, 0) = u.x(); view(1, 1) = u.y(); view(1, 2) = u.z();
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view(2, 0) = -f.x(); view(2, 1) = -f.y(); view(2, 2) = -f.z();
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view(0, 3) = -r.dot(origin);
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view(1, 3) = -u.dot(origin);
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view(2, 3) = f.dot(origin);
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return view;
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}
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// Get projection matrix (perspective)
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Eigen::Matrix4f getProjectionMatrix(float aspectRatio, float nearPlane = 0.1f, float farPlane = 100.0f) const {
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float fovrad = fovRad();
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float tanHalfFov = tan(fovrad / 2.0f);
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Eigen::Matrix4f projection = Eigen::Matrix4f::Zero();
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projection(0, 0) = 1.0f / (aspectRatio * tanHalfFov);
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projection(1, 1) = 1.0f / tanHalfFov;
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projection(2, 2) = -(farPlane + nearPlane) / (farPlane - nearPlane);
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projection(3, 2) = -1.0f;
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projection(2, 3) = -(2.0f * farPlane * nearPlane) / (farPlane - nearPlane);
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return projection;
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}
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};
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#endif |