71 lines
1.8 KiB
C++
71 lines
1.8 KiB
C++
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//
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// Created by trotfunky on 19/10/2019.
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//
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#include "Camera.h"
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Camera::Camera(const Vec3d& eye_pos, const Vec3d& look_direction, const Vec3d& up_vector) :
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eye(eye_pos),
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gaze(look_direction),
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gaze_up(up_vector)
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{
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// Normalize the gaze vectors as they form the base for the local coordinates
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gaze.normalize();
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gaze_up.normalize();
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compute_base_change();
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}
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void Camera::translate(const Vec3d& translation)
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{
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eye = eye + translation * rotation_quaternion;
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}
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void Camera::rotate(const Vec3d& rotation)
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{
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Quaternion x_rotation{gaze*sin(rotation.x/2)};
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x_rotation.w = cos(rotation.x/2);
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x_rotation.normalize();
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gaze_up = x_rotation * gaze_up;
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Quaternion z_rotation{gaze.cross_product(gaze_up)*sin(rotation.z/2)};
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z_rotation.w = cos(rotation.z/2);
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z_rotation.normalize();
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gaze = z_rotation * gaze;
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gaze_up = z_rotation * gaze_up;
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Quaternion y_rotation{0,sin(rotation.y),0,cos(rotation.y)};
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y_rotation.normalize();
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gaze = y_rotation * gaze;
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gaze_up = y_rotation * gaze_up;
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compute_base_change();
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}
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void Camera::look()
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{
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gluLookAt(eye.x,eye.y,eye.z,
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eye.x+gaze.x,eye.y+gaze.y,eye.z+gaze.z,
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gaze_up.x,gaze_up.y,gaze_up.z);
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}
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void Camera::set_position(const Vec3d& eye_pos)
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{
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gaze = eye_pos;
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}
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void Camera::compute_base_change()
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{
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// Third vector of the base, should already be normalized
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Vec3d gaze_normal = gaze.cross_product(gaze_up);
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double quaternion_w = std::sqrt(1 + gaze.x + gaze_up.y + gaze_normal.z) / 2;
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rotation_quaternion = {(gaze_normal.y - gaze_up.z)/(4*quaternion_w),
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(gaze.z - gaze_normal.x)/(4*quaternion_w),
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(gaze_up.x - gaze.y)/(4*quaternion_w),
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quaternion_w};
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rotation_quaternion.normalize();
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}
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