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#include "graphics/camera.h"
#include <iostream>
Camera::Camera()
: m_position(0,0,0),
m_pitch(0),
m_yaw(0),
m_look(0, 0, 1),
m_orbitPoint(0, 0, 0),
m_isOrbiting(false),
m_view(Eigen::Matrix4f::Identity()),
m_proj(Eigen::Matrix4f::Identity()),
m_viewDirty(true),
m_projDirty(true),
m_fovY(90),
m_aspect(1),
m_near(0.1f),
m_far(50.f),
m_zoom(1)
{}
// ================== Position
void Camera::setPosition(const Eigen::Vector3f &position)
{
m_position = position;
m_viewDirty = true;
}
void Camera::move(const Eigen::Vector3f &deltaPosition)
{
if (deltaPosition.squaredNorm() == 0) return;
m_position += deltaPosition;
if (m_isOrbiting) {
m_orbitPoint += deltaPosition;
}
m_viewDirty = true;
}
Eigen::Vector3f Camera::getPosition()
{
return m_position;
}
// ================== Rotation
void Camera::setRotation(float pitch, float yaw)
{
m_pitch = pitch;
m_yaw = yaw;
m_viewDirty = true;
updateLook();
}
void Camera::rotate(float deltaPitch, float deltaYaw)
{
m_pitch += deltaPitch;
m_yaw += deltaYaw;
m_pitch = std::clamp(m_pitch, (float) -M_PI_2 + 0.01f, (float) M_PI_2 - 0.01f);
m_viewDirty = true;
updateLook();
if (m_isOrbiting) {
m_position = m_orbitPoint - m_look * m_zoom;
}
}
// ================== Position and Rotation
void Camera::lookAt(const Eigen::Vector3f &eye, const Eigen::Vector3f &target)
{
m_position = eye;
m_look = (target - eye).normalized();
m_viewDirty = true;
updatePitchAndYaw();
}
// ================== Orbiting
void Camera::setOrbitPoint(const Eigen::Vector3f &orbitPoint)
{
m_orbitPoint = orbitPoint;
m_viewDirty = true;
}
bool Camera::getIsOrbiting()
{
return m_isOrbiting;
}
void Camera::setIsOrbiting(bool isOrbiting)
{
m_isOrbiting = isOrbiting;
m_viewDirty = true;
}
void Camera::toggleIsOrbiting()
{
m_isOrbiting = !m_isOrbiting;
m_viewDirty = true;
if (m_isOrbiting) {
m_zoom = (m_orbitPoint - m_position).norm();
m_look = (m_orbitPoint - m_position).normalized();
updatePitchAndYaw();
}
}
void Camera::zoom(float zoomMultiplier)
{
if (!m_isOrbiting) return;
m_zoom *= zoomMultiplier;
m_position = m_orbitPoint - m_look * m_zoom;
m_viewDirty = true;
}
// ================== Important Getters
const Eigen::Matrix4f &Camera::getView()
{
if (m_viewDirty) {
Eigen::Matrix3f R;
Eigen::Vector3f f = m_look.normalized();
Eigen::Vector3f u = Eigen::Vector3f::UnitY();
Eigen::Vector3f s = f.cross(u).normalized();
u = s.cross(f);
R.col(0) = s;
R.col(1) = u;
R.col(2) = -f;
m_view.topLeftCorner<3, 3>() = R.transpose();
m_view.topRightCorner<3, 1>() = -R.transpose() * m_position;
m_view(3, 3) = 1.f;
m_viewDirty = false;
}
return m_view;
}
const Eigen::Matrix4f &Camera::getProjection()
{
if (m_projDirty) {
float theta = m_fovY * 0.5f;
float invRange = 1.f / (m_far - m_near);
float invtan = 1.f / tanf(theta);
m_proj(0, 0) = invtan / m_aspect;
m_proj(1, 1) = invtan;
m_proj(2, 2) = -(m_near + m_far) * invRange;
m_proj(3, 2) = -1;
m_proj(2, 3) = -2 * m_near * m_far * invRange;
m_proj(3, 3) = 0;
m_projDirty = false;
}
return m_proj;
}
const Eigen::Vector3f &Camera::getLook()
{
return m_look;
}
// ================== Intrinsics
void Camera::setPerspective(float fovY, float aspect, float near, float far)
{
m_fovY = fovY;
m_aspect = aspect;
m_near = near;
m_far = far;
m_projDirty = true;
}
void Camera::setAspect(float aspect)
{
m_aspect = aspect;
m_projDirty = true;
}
// ================== Private Helpers
void Camera::updateLook()
{
m_look = Eigen::Vector3f(0, 0, 1);
m_look = Eigen::AngleAxis<float>(m_pitch, Eigen::Vector3f::UnitX()) * m_look;
m_look = Eigen::AngleAxis<float>(m_yaw, Eigen::Vector3f::UnitY()) * m_look;
m_look = m_look.normalized();
}
void Camera::updatePitchAndYaw()
{
m_pitch = asinf(-m_look.y());
m_yaw = atan2f(m_look.x(), m_look.z());
}
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