1 // This file is part of Eigen, a lightweight C++ template library 2 // for linear algebra. 3 // 4 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr> 5 // 6 // This Source Code Form is subject to the terms of the Mozilla 7 // Public License v. 2.0. If a copy of the MPL was not distributed 8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9 10 #ifndef EIGEN_CAMERA_H 11 #define EIGEN_CAMERA_H 12 13 #include <Eigen/Geometry> 14 #include <QObject> 15 // #include <frame.h> 16 17 class Frame 18 { 19 public: 20 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 21 22 inline Frame(const Eigen::Vector3f& pos = Eigen::Vector3f::Zero(), 23 const Eigen::Quaternionf& o = Eigen::Quaternionf()) orientation(o)24 : orientation(o), position(pos) 25 {} lerp(float alpha,const Frame & other)26 Frame lerp(float alpha, const Frame& other) const 27 { 28 return Frame((1.f-alpha)*position + alpha * other.position, 29 orientation.slerp(alpha,other.orientation)); 30 } 31 32 Eigen::Quaternionf orientation; 33 Eigen::Vector3f position; 34 }; 35 36 class Camera 37 { 38 public: 39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 40 41 Camera(void); 42 43 Camera(const Camera& other); 44 45 virtual ~Camera(); 46 47 Camera& operator=(const Camera& other); 48 49 void setViewport(uint offsetx, uint offsety, uint width, uint height); 50 void setViewport(uint width, uint height); 51 vpX(void)52 inline uint vpX(void) const { return mVpX; } vpY(void)53 inline uint vpY(void) const { return mVpY; } vpWidth(void)54 inline uint vpWidth(void) const { return mVpWidth; } vpHeight(void)55 inline uint vpHeight(void) const { return mVpHeight; } 56 fovY(void)57 inline float fovY(void) const { return mFovY; } 58 void setFovY(float value); 59 60 void setPosition(const Eigen::Vector3f& pos); position(void)61 inline const Eigen::Vector3f& position(void) const { return mFrame.position; } 62 63 void setOrientation(const Eigen::Quaternionf& q); orientation(void)64 inline const Eigen::Quaternionf& orientation(void) const { return mFrame.orientation; } 65 66 void setFrame(const Frame& f); frame(void)67 const Frame& frame(void) const { return mFrame; } 68 69 void setDirection(const Eigen::Vector3f& newDirection); 70 Eigen::Vector3f direction(void) const; 71 void setUp(const Eigen::Vector3f& vectorUp); 72 Eigen::Vector3f up(void) const; 73 Eigen::Vector3f right(void) const; 74 75 void setTarget(const Eigen::Vector3f& target); target(void)76 inline const Eigen::Vector3f& target(void) { return mTarget; } 77 78 const Eigen::Affine3f& viewMatrix(void) const; 79 const Eigen::Matrix4f& projectionMatrix(void) const; 80 81 void rotateAroundTarget(const Eigen::Quaternionf& q); 82 void localRotate(const Eigen::Quaternionf& q); 83 void zoom(float d); 84 85 void localTranslate(const Eigen::Vector3f& t); 86 87 /** Setup OpenGL matrices and viewport */ 88 void activateGL(void); 89 90 Eigen::Vector3f unProject(const Eigen::Vector2f& uv, float depth, const Eigen::Matrix4f& invModelview) const; 91 Eigen::Vector3f unProject(const Eigen::Vector2f& uv, float depth) const; 92 93 protected: 94 void updateViewMatrix(void) const; 95 void updateProjectionMatrix(void) const; 96 97 protected: 98 99 uint mVpX, mVpY; 100 uint mVpWidth, mVpHeight; 101 102 Frame mFrame; 103 104 mutable Eigen::Affine3f mViewMatrix; 105 mutable Eigen::Matrix4f mProjectionMatrix; 106 107 mutable bool mViewIsUptodate; 108 mutable bool mProjIsUptodate; 109 110 // used by rotateAroundTarget 111 Eigen::Vector3f mTarget; 112 113 float mFovY; 114 float mNearDist; 115 float mFarDist; 116 }; 117 118 #endif // EIGEN_CAMERA_H 119