-
Notifications
You must be signed in to change notification settings - Fork 0
/
camera.cpp
204 lines (171 loc) · 6.12 KB
/
camera.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
#include "camera.h"
#include <QtMath>
QVariant Vector3dInterpolator(const Eigen::Vector3d &start, const Eigen::Vector3d &end, qreal progress)
{
Eigen::Vector3d value(start*(1.0d-(double)progress)+end*(double)progress);
return QVariant::fromValue(value);
}
QVariant QuaterniondInterpolator(const Eigen::Quaterniond &start, const Eigen::Quaterniond &end, qreal progress)
{
return QVariant::fromValue(start.slerp((double)progress, end));
}
Camera::Camera(QObject *parent)
: QObject(parent)
, m_position(0.0, 1.0, 0.0)
, m_sceneCenter(0.0, 0.0, 0.0)
, m_upVector(0.0, 0.0, 1.0)
, m_fov(45.0)
, m_aspectRatio(1.0)
, m_zNear(1.0e-3)
, m_zFar(1.0e5)
, m_zNearCoefficient(1.0e-8)
, m_zClippingCoefficient(1.0e6)
{
qRegisterAnimationInterpolator<Eigen::Vector3d>(Vector3dInterpolator);
qRegisterAnimationInterpolator<Eigen::Quaterniond>(QuaterniondInterpolator);
m_goToAnimation = new QSequentialAnimationGroup(this);
m_orientationAnimation = new QPropertyAnimation(this, "orientation");
m_orientationAnimation->setEasingCurve(QEasingCurve::OutCirc);
m_orientationAnimation->setDuration(1000);
m_goToAnimation->addAnimation(m_orientationAnimation);
m_positionAnimation = new QPropertyAnimation(this, "position");
m_positionAnimation->setEasingCurve(QEasingCurve::OutCirc);
m_positionAnimation->setDuration(2000);
m_goToAnimation->addAnimation(m_positionAnimation);
m_moveToAnimation = new QPropertyAnimation(this, "position");
m_moveToAnimation->setEasingCurve(QEasingCurve::OutCirc);
m_moveToAnimation->setDuration(500);
m_orientation.setIdentity();
updateModelView();
updateProjection();
}
Camera::~Camera()
{
}
void Camera::setPosition(const Eigen::Vector3d &position)
{
m_position = position;
updateModelView();
emit positionChanged();
}
void Camera::setUpVector(const Eigen::Vector3d &upVector)
{
m_upVector = upVector;
updateModelView();
}
void Camera::setOrientation(const Eigen::Quaterniond &orientation)
{
m_orientation = orientation;
updateModelView();
}
void Camera::setCenter(const Eigen::Vector3d ¢er)
{
m_sceneCenter = center;
updateModelView();
}
void Camera::rotateAroundCenter(const Eigen::Quaterniond &q)
{
m_position = m_sceneCenter+q*(m_position-m_sceneCenter);
m_upVector = q*m_upVector;
m_orientation = m_orientation*q.inverse();
updateModelView();
emit positionChanged();
}
void Camera::rotate(const Eigen::Quaterniond &q)
{
m_orientation = m_orientation*q;
m_upVector = q.inverse()*m_upVector;
updateModelView();
}
void Camera::lookAt(const Eigen::Vector3d &target)
{
m_orientation = lookAtQuaternion(target);
updateModelView();
}
Eigen::Quaterniond Camera::lookAtQuaternion(const Eigen::Vector3d &target)
{
Eigen::Vector3d w = (m_position - target).normalized();
Eigen::Vector3d u = m_upVector.cross(w).normalized();
Eigen::Vector3d v = w.cross(u);
Eigen::Matrix4d rot;
rot << u.x(), u.y(), u.z(), 0.0d,
v.x(), v.y(), v.z(), 0.0d,
w.x(), w.y(), w.z(), 0.0d,
0.0d, 0.0d, 0.0d, 1.0d;
Eigen::Affine3d aff(rot);
return Eigen::Quaterniond(aff.rotation()).normalized();
}
void Camera::setFov(float fov)
{
m_fov = fov;
updateProjection();
}
void Camera::setAspectRatio(float aspectRatio)
{
m_aspectRatio = aspectRatio;
updateProjection();
}
void Camera::setZNear(double zNear)
{
m_zNear = zNear;
updateProjection();
}
void Camera::setZFar(double zFar)
{
m_zFar = zFar;
updateProjection();
}
void Camera::setSceneRadius(double sceneRadius)
{
m_sceneRadius = sceneRadius;
m_zNear = m_zNearCoefficient*m_zClippingCoefficient*m_sceneRadius;
m_zFar = (m_position-m_sceneCenter).norm()+m_zClippingCoefficient*m_sceneRadius;
updateProjection();
}
void Camera::updateModelView()
{
m_orientation.normalize();
m_modelView = Eigen::Affine3d(m_orientation);
m_modelView.translate(-m_position);
}
void Camera::updateProjection()
{
double f = 1.0d / tan(qDegreesToRadians(m_fov)/2.0d);
Eigen::Matrix4d mat;
mat << f / m_aspectRatio, 0.0, 0.0, 0.0,
0.0, f, 0.0, 0.0,
0.0, 0.0, (m_zFar+m_zNear)/(m_zNear-m_zFar), (2.0*m_zFar*m_zNear)/(m_zNear-m_zFar),
0.0, 0.0, -1.0, 0.0;
m_projection = Eigen::Affine3d(mat);
}
void Camera::goToCenter()
{
m_orientationAnimation->setStartValue(QVariant::fromValue(m_orientation));
Eigen::Quaterniond target = lookAtQuaternion(m_sceneCenter);
m_orientationAnimation->setEndValue(QVariant::fromValue(target));
const float vfov = qDegreesToRadians(m_fov);
const float hFov = 2.0 * atan( tan(vfov/2.0) * m_aspectRatio );
const double yview = m_sceneRadius / sin(vfov/2.0);
const double xview = m_sceneRadius / sin(hFov/2.0);
const double distance = std::max(xview, yview);
Eigen::Vector3d positionToCenter = m_position-m_sceneCenter - distance*((m_position-m_sceneCenter).normalized());
m_positionAnimation->setStartValue(QVariant::fromValue(m_position));
Eigen::Vector3d endvalue = m_position - positionToCenter;
m_positionAnimation->setEndValue(QVariant::fromValue(endvalue));
m_goToAnimation->start();
}
void Camera::moveTo(const Eigen::Vector3d &position)
{
// if (m_moveToAnimation->state() == QPropertyAnimation::Running) {
//// // jump to end of animation, without any further knowledge of it:
//// viewAnimation->targetObject()->setProperty(viewAnimation->propertyName(),
//// viewAnimation->endValue());
// Eigen::Vector3d currentValue = m_moveToAnimation->currentValue().value<Eigen::Vector3d>();
// m_moveToAnimation->setStartValue(QVariant::fromValue(currentValue));
// m_moveToAnimation->setEndValue(QVariant::fromValue(position));
// } else {
m_moveToAnimation->setStartValue(QVariant::fromValue(m_position));
m_moveToAnimation->setEndValue(QVariant::fromValue(position));
m_moveToAnimation->start();
// }
}