[2753] | 1 | #include "common.h"
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| 2 | #include "Camera.h"
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[2755] | 3 | #include "glInterface.h"
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[2911] | 4 | #include "Polygon3.h"
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| 5 | #include "Matrix4x4.h"
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| 6 | #include "Polyhedron.h"
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[2753] | 7 |
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[2776] | 8 | namespace CHCDemoEngine
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[2753] | 9 | {
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| 10 |
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[2796] | 11 | using namespace std;
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[2753] | 12 |
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[2932] | 13 | // our coordinate system is left-handed
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| 14 | // we look into positive y and have the positive z axis pointing up
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[2928] | 15 | static const Vector3 baseDir = -Vector3::UNIT_Y();
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[2796] | 16 |
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[2887] | 17 |
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[3062] | 18 |
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| 19 | /**********************************************************/
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| 20 | /* class Frustum implementation */
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| 21 | /**********************************************************/
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| 22 |
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| 23 |
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| 24 | Frustum::Frustum(const Matrix4x4 &trafo)
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[2753] | 25 | {
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[3062] | 26 | //////////
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| 27 | //-- extract the plane equations
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[2796] | 28 |
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[3062] | 29 | for (int i = 0; i < 4; ++ i)
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| 30 | {
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| 31 | mClipPlanes[Frustum::RIGHT_PLANE][i] = trafo.x[i][3] - trafo.x[i][0];
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| 32 | mClipPlanes[Frustum::LEFT_PLANE][i] = trafo.x[i][3] + trafo.x[i][0];
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| 33 |
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| 34 | mClipPlanes[Frustum::BOTTOM_PLANE][i] = trafo.x[i][3] + trafo.x[i][1];
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| 35 | mClipPlanes[Frustum::TOP_PLANE][i] = trafo.x[i][3] - trafo.x[i][1];
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[2887] | 36 |
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[3062] | 37 | mClipPlanes[Frustum::FAR_PLANE][i] = trafo.x[i][3] - trafo.x[i][2];
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| 38 | mClipPlanes[Frustum::NEAR_PLANE][i] = trafo.x[i][3] + trafo.x[i][2];
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| 39 | }
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[2753] | 40 | }
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| 41 |
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| 42 |
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[3062] | 43 | void Frustum::EnclosePolyhedron(const Polyhedron &polyhedron)
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[2753] | 44 | {
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[3062] | 45 | VertexArray vertices;
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| 46 | polyhedron.CollectVertices(vertices);
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[2796] | 47 |
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[3062] | 48 | for (int i = 0; i < 6; ++ i)
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| 49 | {
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| 50 | Plane3 &plane = mClipPlanes[i];
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[2796] | 51 |
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[3062] | 52 | VertexArray::const_iterator it, it_end = vertices.end();
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| 53 | float minDist = 1e20;
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| 54 |
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| 55 | for (it = vertices.begin(); it != it_end; ++ it)
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| 56 | {
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| 57 | float dist = plane.Distance(*it);
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| 58 |
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| 59 | if (dist < minDist)
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| 60 | {
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[3214] | 61 | //cout << "minDist: " << dist << endl;
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[3062] | 62 | minDist = dist;
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| 63 | }
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| 64 | }
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| 65 |
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| 66 | plane.mD += minDist;
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| 67 | }
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| 68 | }
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| 69 |
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| 70 |
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| 71 | void Frustum::ExtractTransformation(Matrix4x4 &m) const
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| 72 | {
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| 73 | for (int i = 0; i < 4; ++ i)
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| 74 | {
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| 75 | m.x[i][0] = (mClipPlanes[LEFT_PLANE][i] - mClipPlanes[RIGHT_PLANE][i]) * 0.5f;
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| 76 | m.x[i][1] = (mClipPlanes[BOTTOM_PLANE][i] - mClipPlanes[TOP_PLANE][i]) * 0.5f;
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| 77 | m.x[i][2] = (mClipPlanes[NEAR_PLANE][i] - mClipPlanes[FAR_PLANE][i]) * 0.5f;
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| 78 | m.x[i][3] = (mClipPlanes[LEFT_PLANE][i] + mClipPlanes[RIGHT_PLANE][i]) * 0.5f;
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| 79 | }
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| 80 | }
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| 81 |
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| 82 |
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| 83 |
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| 84 | /*********************************************************/
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| 85 | /* class Camera implementation */
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| 86 | /*********************************************************/
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| 87 |
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| 88 |
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| 89 | Camera::Camera()
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| 90 | {
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| 91 | SetPosition(Vector3(0, 0, 0));
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| 92 |
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[2796] | 93 | mPitch = mYaw = 0;
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[2918] | 94 | Precompute(baseDir);
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[2887] | 95 |
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| 96 | CalculateFromPitchAndYaw();
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[2753] | 97 | }
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| 98 |
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| 99 |
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[2928] | 100 | void Camera::Precompute(const Vector3 &dir)
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[2753] | 101 | {
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[2928] | 102 | Vector3 up = Vector3::UNIT_Z();
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[3061] | 103 |
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| 104 | mBaseOrientation = LookAt(Vector3::ZERO(), dir, up);
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[2796] | 105 | mViewOrientation = mBaseOrientation;
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[2753] | 106 | }
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| 107 |
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| 108 |
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| 109 | void Camera::SetPosition(const Vector3 &pos)
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| 110 | {
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| 111 | mPosition = pos;
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| 112 | }
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| 113 |
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| 114 |
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[2764] | 115 | void Camera::SetNear(float nearDist)
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| 116 | {
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| 117 | mNear = nearDist;
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[3063] | 118 | UpdateProjectionMatrix();
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[2764] | 119 | }
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| 120 |
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| 121 |
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[2806] | 122 | void Camera::SetFar(float farDist)
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| 123 | {
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| 124 | mFar = farDist;
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[3063] | 125 | UpdateProjectionMatrix();
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[2806] | 126 | }
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| 127 |
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| 128 |
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[2986] | 129 | void Camera::GetModelViewMatrix(Matrix4x4 &mat) const
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[2755] | 130 | {
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[2893] | 131 | mat = mViewOrientation;
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| 132 |
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[2932] | 133 | // note: left handed system => we go into positive z
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| 134 | mat.x[3][0] = -DotProd(GetRightVector(), mPosition);
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| 135 | mat.x[3][1] = -DotProd(GetUpVector(), mPosition);
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[3213] | 136 | mat.x[3][2] = DotProd(GetDirection(), mPosition);
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[2755] | 137 | }
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| 138 |
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| 139 |
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[2986] | 140 | void Camera::GetViewOrientationMatrix(Matrix4x4 &mat) const
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| 141 | {
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| 142 | mat = mViewOrientation;
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| 143 | }
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| 144 |
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| 145 |
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[3061] | 146 | void Camera::SetupViewProjection()
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| 147 | {
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| 148 | glMatrixMode(GL_PROJECTION);
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| 149 | SetupProjection();
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| 150 |
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| 151 | glMatrixMode(GL_MODELVIEW);
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| 152 | // set up the view matrix
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| 153 | SetupCameraView();
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| 154 | }
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| 155 |
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| 156 |
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| 157 | void Camera::SetupProjection()
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| 158 | {
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[3062] | 159 | Matrix4x4 m;
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| 160 |
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| 161 | GetProjectionMatrix(m);
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| 162 | glLoadMatrixf((float *)m.x);
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[3061] | 163 | }
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| 164 |
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| 165 |
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[2756] | 166 | void Camera::SetupCameraView()
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| 167 | {
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[2932] | 168 | Matrix4x4 m;
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| 169 | GetModelViewMatrix(m);
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[2780] | 170 |
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[2932] | 171 | glLoadMatrixf((float *)m.x);
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[2755] | 172 | }
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| 173 |
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[2756] | 174 |
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[2796] | 175 | void Camera::Yaw(float angle)
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| 176 | {
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| 177 | mYaw += angle;
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| 178 | CalculateFromPitchAndYaw();
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| 179 | }
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| 180 |
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| 181 |
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| 182 | void Camera::Pitch(float angle)
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| 183 | {
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| 184 | mPitch += angle;
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| 185 | CalculateFromPitchAndYaw();
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| 186 | }
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| 187 |
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| 188 |
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[2864] | 189 | void Camera::SetDirection(const Vector3 &dir)
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[2829] | 190 | {
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[2927] | 191 | Vector3 ndir = -Normalize(dir);
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[2829] | 192 |
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[2888] | 193 | mPitch = -atan2(ndir.x, ndir.y);
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| 194 | mYaw = atan2(ndir.z, sqrt((ndir.x * ndir.x) + (ndir.y * ndir.y)));
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[2887] | 195 |
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[2829] | 196 | CalculateFromPitchAndYaw();
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| 197 | }
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| 198 |
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| 199 |
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[2796] | 200 | void Camera::CalculateFromPitchAndYaw()
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| 201 | {
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| 202 | mViewOrientation = mBaseOrientation;
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| 203 |
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| 204 | Matrix4x4 roty = RotationYMatrix(mPitch);
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| 205 | Matrix4x4 rotx = RotationXMatrix(mYaw);
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| 206 |
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| 207 | mViewOrientation *= roty;
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| 208 | mViewOrientation *= rotx;
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| 209 | }
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| 210 |
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| 211 |
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| 212 | Vector3 Camera::GetDirection() const
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| 213 | {
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[2927] | 214 | return -Vector3(mViewOrientation.x[0][2], mViewOrientation.x[1][2], mViewOrientation.x[2][2]);
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[2796] | 215 | }
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| 216 |
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| 217 |
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| 218 | Vector3 Camera::GetUpVector() const
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| 219 | {
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| 220 | return Vector3(mViewOrientation.x[0][1], mViewOrientation.x[1][1], mViewOrientation.x[2][1]);
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| 221 | }
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| 222 |
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| 223 |
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| 224 | Vector3 Camera::GetRightVector() const
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| 225 | {
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[2911] | 226 | return Vector3(mViewOrientation.x[0][0], mViewOrientation.x[1][0], mViewOrientation.x[2][0]);
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[2796] | 227 | }
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| 228 |
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| 229 |
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[2911] | 230 | Vector3 Camera::GetBaseDirection() const
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| 231 | {
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[2927] | 232 | return -Vector3(mBaseOrientation.x[0][2], mBaseOrientation.x[1][2], mBaseOrientation.x[2][2]);
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[2796] | 233 | }
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| 234 |
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[2911] | 235 |
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| 236 | Vector3 Camera::GetBaseUpVector() const
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| 237 | {
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| 238 | return Vector3(mBaseOrientation.x[0][1], mBaseOrientation.x[1][1], mBaseOrientation.x[2][1]);
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| 239 | }
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| 240 |
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| 241 |
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| 242 | Vector3 Camera::GetBaseRightVector() const
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| 243 | {
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| 244 | return Vector3(mBaseOrientation.x[0][0], mBaseOrientation.x[1][0], mBaseOrientation.x[2][0]);
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| 245 | }
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| 246 |
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| 247 |
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[3062] | 248 | void Camera::CalcFrustum(Frustum &frustum)
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[2911] | 249 | {
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[3062] | 250 | // we grab the plane equations of the six clipplanes of the viewfrustum
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| 251 | Matrix4x4 matViewing, matProjectionView;
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[2911] | 252 |
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[3062] | 253 | GetModelViewMatrix(matViewing);
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| 254 | GetProjectionMatrix(matProjectionView);
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[2936] | 255 |
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[3062] | 256 | matProjectionView = matViewing * matProjectionView;
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[2911] | 257 |
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[3062] | 258 | frustum = Frustum(matProjectionView);
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[2911] | 259 |
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| 260 |
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[3062] | 261 | ////////////
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| 262 | //-- normalize the coefficients
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| 263 |
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[2911] | 264 | for (int i = 0; i < 6; ++ i)
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| 265 | {
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[3062] | 266 | // the clipping planes look outward the frustum,
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| 267 | // so distances > 0 mean that a point is outside
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| 268 | const float invLength = -1.0f / Magnitude(frustum.mClipPlanes[i].mNormal);
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| 269 |
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| 270 | frustum.mClipPlanes[i].mD *= invLength;
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| 271 | frustum.mClipPlanes[i].mNormal *= invLength;
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| 272 | }
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| 273 | }
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[2911] | 274 |
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| 275 |
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[3063] | 276 | void Camera::GetProjectionMatrix(Matrix4x4 &m)const
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| 277 | {
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[3102] | 278 | //glGetFloatv(GL_PROJECTION_MATRIX, (float *)m.x);
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[3063] | 279 | m = mProjection;
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| 280 | }
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| 281 |
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| 282 |
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[3102] | 283 |
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[3062] | 284 | /*********************************************************/
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[3102] | 285 | /* Class PerspectiveCamera implementation */
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[3062] | 286 | /*********************************************************/
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[2911] | 287 |
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| 288 |
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[3062] | 289 | PerspectiveCamera::PerspectiveCamera()
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| 290 | {
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| 291 | mFOVy = 60.0f * M_PI / 180.0f;
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[3063] | 292 | mAspect = 1.0f;
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| 293 |
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| 294 | UpdateProjectionMatrix();
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[2911] | 295 | }
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| 296 |
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| 297 |
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[3062] | 298 | PerspectiveCamera::PerspectiveCamera(float aspect, float fieldOfView)
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[2911] | 299 | {
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[3062] | 300 | mFOVy = fieldOfView * M_PI / 180.0f;
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| 301 | mAspect = aspect;
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[3063] | 302 |
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| 303 | UpdateProjectionMatrix();
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[2911] | 304 | }
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| 305 |
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| 306 |
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[3062] | 307 | Polyhedron *PerspectiveCamera::ComputeFrustum(float farthestVisibleDistance) const
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[2931] | 308 | {
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| 309 | Vector3 ftl, ftr, fbl, fbr;
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| 310 | Vector3 ntl, ntr, nbl, nbr;
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[2911] | 311 |
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[2931] | 312 | VertexArray sides[6];
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| 313 |
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[2947] | 314 | ComputePoints(ftl, ftr, fbl, fbr, ntl, ntr, nbl, nbr, farthestVisibleDistance);
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[2931] | 315 |
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| 316 | for (int i = 0; i < 6; ++ i)
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| 317 | sides[i].resize(4);
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| 318 |
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| 319 | // left, right
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| 320 | sides[0][0] = ftl; sides[0][1] = fbl; sides[0][2] = nbl; sides[0][3] = ntl;
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| 321 | sides[1][0] = fbr; sides[1][1] = ftr; sides[1][2] = ntr; sides[1][3] = nbr;
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| 322 | // bottom, top
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| 323 | sides[2][0] = fbl; sides[2][1] = fbr; sides[2][2] = nbr; sides[2][3] = nbl;
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| 324 | sides[3][0] = ftr; sides[3][1] = ftl; sides[3][2] = ntl; sides[3][3] = ntr;
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| 325 | // near, far
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| 326 | sides[4][0] = ntr; sides[4][1] = ntl; sides[4][2] = nbl; sides[4][3] = nbr;
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| 327 | sides[5][0] = ftl; sides[5][1] = ftr; sides[5][2] = fbr; sides[5][3] = fbl;
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| 328 |
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| 329 |
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| 330 | //////////
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| 331 | //-- compute polyhedron
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| 332 |
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| 333 | PolygonContainer polygons;
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| 334 |
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| 335 | for (int i = 0; i < 6; ++ i)
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| 336 | {
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| 337 | Polygon3 *poly = new Polygon3(sides[i]);
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| 338 | polygons.push_back(poly);
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| 339 | }
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| 340 |
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| 341 | return new Polyhedron(polygons);
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[2911] | 342 | }
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| 343 |
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[2931] | 344 |
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[3062] | 345 | void PerspectiveCamera::ComputePointsInternal(Vector3 &ftl, Vector3 &ftr, Vector3 &fbl, Vector3 &fbr,
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| 346 | Vector3 &ntl, Vector3 &ntr, Vector3 &nbl, Vector3 &nbr,
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| 347 | const Vector3 &view, const Vector3 &right, const Vector3 &up,
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| 348 | const Vector3 &pos,
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| 349 | float farthestVisibleDistance) const
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| 350 | {
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| 351 | const float z_near = mNear;
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| 352 | const float z_far = min(mFar, farthestVisibleDistance);
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| 353 |
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| 354 | const float fov = mFOVy;
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| 355 |
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| 356 | const float aspectRatio = GetAspect();
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| 357 |
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| 358 | const float h_near = tan(fov * 0.5f) * z_near;
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| 359 | const float w_near = h_near * aspectRatio;
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| 360 |
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| 361 | const float h_far = tan(fov * 0.5f) * z_far;
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| 362 | const float w_far = h_far * aspectRatio;
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| 363 |
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| 364 | const Vector3 fc = pos + view * z_far;
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| 365 |
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| 366 |
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| 367 | Vector3 t1, t2;
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| 368 |
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| 369 | t1 = h_far * up;
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| 370 | t2 = w_far * right;
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| 371 |
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| 372 | ftl = fc + t1 - t2;
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| 373 | ftr = fc + t1 + t2;
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| 374 | fbl = fc - t1 - t2;
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| 375 | fbr = fc - t1 + t2;
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| 376 |
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| 377 | const Vector3 nc = pos + view * z_near;
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| 378 |
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| 379 | t1 = h_near * up;
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| 380 | t2 = w_near * right;
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| 381 |
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| 382 | ntl = nc + t1 - t2;
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| 383 | ntr = nc + t1 + t2;
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| 384 | nbl = nc - t1 - t2;
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| 385 | nbr = nc - t1 + t2;
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| 386 | }
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| 387 |
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| 388 |
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[3102] | 389 | void PerspectiveCamera::UpdateProjectionMatrix()
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| 390 | {
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| 391 | mProjection = GetPerspective(mFOVy, 1.0f / mAspect, mNear, mFar);
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| 392 | }
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| 393 |
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| 394 |
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| 395 |
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[3062] | 396 | void PerspectiveCamera::ComputePoints(Vector3 &ftl, Vector3 &ftr, Vector3 &fbl, Vector3 &fbr,
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| 397 | Vector3 &ntl, Vector3 &ntr, Vector3 &nbl, Vector3 &nbr,
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| 398 | float farthestVisibleDistance) const
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| 399 | {
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| 400 | ComputePointsInternal(ftl, ftr, fbl, fbr,
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| 401 | ntl, ntr, nbl, nbr,
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| 402 | GetDirection(), GetRightVector(), GetUpVector(),
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| 403 | GetPosition(),
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| 404 | farthestVisibleDistance);
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| 405 | }
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| 406 |
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| 407 |
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[3102] | 408 |
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| 409 | /*********************************************************/
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| 410 | /* Class OrthoCamera implementation */
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| 411 | /*********************************************************/
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| 412 |
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| 413 |
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| 414 | OrthoCamera::OrthoCamera():
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| 415 | mLeft(0), mRight(1), mBottom(0), mTop(1)
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[3062] | 416 | {
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[3102] | 417 | mNear = 0; mFar = 1;
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| 418 | UpdateProjectionMatrix();
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[3062] | 419 | }
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| 420 |
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| 421 |
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[3102] | 422 | OrthoCamera::OrthoCamera(float l, float r, float b, float t):
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| 423 | mLeft(l), mRight(r), mBottom(b), mTop(t)
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| 424 | {
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| 425 | mNear = 0; mFar = 1;
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| 426 | UpdateProjectionMatrix();
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| 427 | }
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| 428 |
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| 429 |
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| 430 | OrthoCamera::OrthoCamera(float l, float r, float b, float t, float n, float f):
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| 431 | mLeft(l), mRight(r), mBottom(b), mTop(t)
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| 432 | {
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| 433 | mNear = n; mFar = f;
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| 434 | UpdateProjectionMatrix();
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| 435 | }
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| 436 |
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| 437 |
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| 438 | void OrthoCamera::UpdateProjectionMatrix()
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| 439 | {
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| 440 | mProjection = GetOrtho(mLeft, mRight, mBottom, mTop, mNear, mFar);
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| 441 | }
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| 442 |
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| 443 |
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[2931] | 444 | } |
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