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camera.h
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Fri, Feb 14, 23:48

camera.h
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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_CAMERA_H
#define EIGEN_CAMERA_H
#include <Eigen/Geometry>
#include <QObject>
// #include <frame.h>
class Frame
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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::Affine3f& 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::Affine3f 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

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