CameraManipulator.cpp

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// Copyright(c) 2019, NVIDIA CORPORATION. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
 
// ignore warning 4127: conditional expression is constant
#if defined( _MSC_VER )
#  pragma warning( disable : 4127 )
#elif defined( __clang__ )
#  if ( 10 <= __clang_major__ )
#    pragma clang diagnostic ignored "-Wdeprecated-volatile"  // to keep glm/detail/type_half.inl compiling
#  endif
#elif defined( __GNUC__ )
// don't know how to switch off that warning here
#else
// unknow compiler... just ignore the warnings for yourselves ;)
#endif
 
#include "CameraManipulator.hpp"
 
#include <glm/glm.hpp>
#include <glm/gtx/rotate_vector.hpp>
 
namespace vk
{
  namespace su
  {
    const float trackballSize = 0.8f;
 
    //-----------------------------------------------------------------------------
    // MATH functions
    //
    template <typename T>
    bool isZero( const T & _a )
    {
      return fabs( _a ) < std::numeric_limits<T>::epsilon();
    }
    template <typename T>
    bool isOne( const T & _a )
    {
      return areEqual( _a, (T)1 );
    }
    inline float sign( float s )
    {
      return ( s < 0.f ) ? -1.f : 1.f;
    }
 
    CameraManipulator::CameraManipulator()
    {
      update();
    }
 
    glm::vec3 const & CameraManipulator::getCameraPosition() const
    {
      return m_cameraPosition;
    }
 
    glm::vec3 const & CameraManipulator::getCenterPosition() const
    {
      return m_centerPosition;
    }
 
    glm::mat4 const & CameraManipulator::getMatrix() const
    {
      return m_matrix;
    }
 
    CameraManipulator::Mode CameraManipulator::getMode() const
    {
      return m_mode;
    }
 
    glm::ivec2 const & CameraManipulator::getMousePosition() const
    {
      return m_mousePosition;
    }
 
    float CameraManipulator::getRoll() const
    {
      return m_roll;
    }
 
    float CameraManipulator::getSpeed() const
    {
      return m_speed;
    }
 
    glm::vec3 const & CameraManipulator::getUpVector() const
    {
      return m_upVector;
    }
 
    glm::u32vec2 const & CameraManipulator::getWindowSize() const
    {
      return m_windowSize;
    }
 
    CameraManipulator::Action CameraManipulator::mouseMove( glm::ivec2 const & position, MouseButton mouseButton, ModifierFlags & modifiers )
    {
      Action curAction = Action::None;
      switch ( mouseButton )
      {
        case MouseButton::Left:
          if ( ( ( modifiers & ModifierFlagBits::Ctrl ) && ( modifiers & ModifierFlagBits::Shift ) ) || ( modifiers & ModifierFlagBits::Alt ) )
          {
            curAction = m_mode == Mode::Examine ? Action::LookAround : Action::Orbit;
          }
          else if ( modifiers & ModifierFlagBits::Shift )
          {
            curAction = Action::Dolly;
          }
          else if ( modifiers & ModifierFlagBits::Ctrl )
          {
            curAction = Action::Pan;
          }
          else
          {
            curAction = m_mode == Mode::Examine ? Action::Orbit : Action::LookAround;
          }
          break;
        case MouseButton::Middle: curAction = Action::Pan; break;
        case MouseButton::Right: curAction = Action::Dolly; break;
        default: assert( false );
      }
      assert( curAction != Action::None );
      motion( position, curAction );
 
      return curAction;
    }
 
    void CameraManipulator::setLookat( const glm::vec3 & cameraPosition, const glm::vec3 & centerPosition, const glm::vec3 & upVector )
    {
      m_cameraPosition = cameraPosition;
      m_centerPosition = centerPosition;
      m_upVector       = upVector;
      update();
    }
 
    void CameraManipulator::setMode( Mode mode )
    {
      m_mode = mode;
    }
 
    void CameraManipulator::setMousePosition( glm::ivec2 const & position )
    {
      m_mousePosition = position;
    }
 
    void CameraManipulator::setRoll( float roll )
    {
      m_roll = roll;
      update();
    }
 
    void CameraManipulator::setSpeed( float speed )
    {
      m_speed = speed;
    }
 
    void CameraManipulator::setWindowSize( glm::ivec2 const & size )
    {
      m_windowSize = size;
    }
 
    void CameraManipulator::wheel( int value )
    {
      float fValue = static_cast<float>( value );
      float dx     = ( fValue * std::abs( fValue ) ) / static_cast<float>( m_windowSize[0] );
 
      glm::vec3 z      = m_cameraPosition - m_centerPosition;
      float     length = z.length() * 0.1f;
      length           = length < 0.001f ? 0.001f : length;
 
      dx *= m_speed;
      dolly( glm::vec2( dx, dx ) );
      update();
    }
 
    void CameraManipulator::dolly( glm::vec2 const & delta )
    {
      glm::vec3 z      = m_centerPosition - m_cameraPosition;
      float     length = glm::length( z );
 
      // We are at the point of interest, and don't know any direction, so do nothing!
      if ( isZero( length ) )
      {
        return;
      }
 
      // Use the larger movement.
      float dd;
      if ( m_mode != Mode::Examine )
      {
        dd = -delta[1];
      }
      else
      {
        dd = fabs( delta[0] ) > fabs( delta[1] ) ? delta[0] : -delta[1];
      }
 
      float factor = m_speed * dd / length;
 
      // Adjust speed based on distance.
      length /= 10;
      length = length < 0.001f ? 0.001f : length;
      factor *= length;
 
      // Don't move to or through the point of interest.
      if ( 1.0f <= factor )
      {
        return;
      }
 
      z *= factor;
 
      // Not going up
      if ( m_mode == Mode::Walk )
      {
        if ( m_upVector.y > m_upVector.z )
        {
          z.y = 0;
        }
        else
        {
          z.z = 0;
        }
      }
 
      m_cameraPosition += z;
 
      // In fly mode, the interest moves with us.
      if ( m_mode != Mode::Examine )
      {
        m_centerPosition += z;
      }
    }
 
    void CameraManipulator::motion( glm::ivec2 const & position, Action action )
    {
      glm::vec2 delta( float( position[0] - m_mousePosition[0] ) / float( m_windowSize[0] ),
                       float( position[1] - m_mousePosition[1] ) / float( m_windowSize[1] ) );
 
      switch ( action )
      {
        case Action::Orbit:
          if ( m_mode == Mode::Trackball )
          {
            orbit( delta, true );  // trackball(position);
          }
          else
          {
            orbit( delta, false );
          }
          break;
        case Action::Dolly: dolly( delta ); break;
        case Action::Pan: pan( delta ); break;
        case Action::LookAround:
          if ( m_mode == Mode::Trackball )
          {
            trackball( position );
          }
          else
          {
            orbit( glm::vec2( delta[0], -delta[1] ), true );
          }
          break;
        default: break;
      }
 
      update();
 
      m_mousePosition = position;
    }
 
    void CameraManipulator::orbit( glm::vec2 const & delta, bool invert )
    {
      if ( isZero( delta[0] ) && isZero( delta[1] ) )
      {
        return;
      }
 
      // Full width will do a full turn
      float dx = delta[0] * float( glm::two_pi<float>() );
      float dy = delta[1] * float( glm::two_pi<float>() );
 
      // Get the camera
      glm::vec3 origin( invert ? m_cameraPosition : m_centerPosition );
      glm::vec3 position( invert ? m_centerPosition : m_cameraPosition );
 
      // Get the length of sight
      glm::vec3 centerToEye( position - origin );
      float     radius = glm::length( centerToEye );
      centerToEye      = glm::normalize( centerToEye );
 
      // Find the rotation around the UP axis (Y)
      glm::vec3 zAxis( centerToEye );
      glm::mat4 yRotation = glm::rotate( -dx, m_upVector );
 
      // Apply the (Y) rotation to the eye-center vector
      glm::vec4 tmpVector = yRotation * glm::vec4( centerToEye.x, centerToEye.y, centerToEye.z, 0.0f );
      centerToEye         = glm::vec3( tmpVector.x, tmpVector.y, tmpVector.z );
 
      // Find the rotation around the X vector: cross between eye-center and up (X)
      glm::vec3 xAxis     = glm::cross( m_upVector, zAxis );
      xAxis               = glm::normalize( xAxis );
      glm::mat4 xRotation = glm::rotate( -dy, xAxis );
 
      // Apply the (X) rotation to the eye-center vector
      tmpVector = xRotation * glm::vec4( centerToEye.x, centerToEye.y, centerToEye.z, 0 );
      glm::vec3 rotatedVector( tmpVector.x, tmpVector.y, tmpVector.z );
      if ( sign( rotatedVector.x ) == sign( centerToEye.x ) )
      {
        centerToEye = rotatedVector;
      }
 
      // Make the vector as long as it was originally
      centerToEye *= radius;
 
      // Finding the new position
      glm::vec3 newPosition = centerToEye + origin;
 
      if ( !invert )
      {
        m_cameraPosition = newPosition;  // Normal: change the position of the camera
      }
      else
      {
        m_centerPosition = newPosition;  // Inverted: change the interest point
      }
    }
 
    void CameraManipulator::pan( glm::vec2 const & delta )
    {
      glm::vec3 z( m_cameraPosition - m_centerPosition );
      float     length = static_cast<float>( glm::length( z ) ) / 0.785f;  // 45 degrees
      z                = glm::normalize( z );
      glm::vec3 x      = glm::normalize( glm::cross( m_upVector, z ) );
      glm::vec3 y      = glm::normalize( glm::cross( z, x ) );
      x *= -delta[0] * length;
      y *= delta[1] * length;
 
      if ( m_mode == Mode::Fly )
      {
        x = -x;
        y = -y;
      }
 
      m_cameraPosition += x + y;
      m_centerPosition += x + y;
    }
 
    double CameraManipulator::projectOntoTBSphere( const glm::vec2 & p )
    {
      double z;
      double d = length( p );
      if ( d < trackballSize * 0.70710678118654752440 )
      {
        // inside sphere
        z = sqrt( trackballSize * trackballSize - d * d );
      }
      else
      {
        // on hyperbola
        double t = trackballSize / 1.41421356237309504880;
        z        = t * t / d;
      }
 
      return z;
    }
 
    void CameraManipulator::trackball( glm::ivec2 const & position )
    {
      glm::vec2 p0( 2 * ( m_mousePosition[0] - m_windowSize[0] / 2 ) / double( m_windowSize[0] ),
                    2 * ( m_windowSize[1] / 2 - m_mousePosition[1] ) / double( m_windowSize[1] ) );
      glm::vec2 p1( 2 * ( position[0] - m_windowSize[0] / 2 ) / double( m_windowSize[0] ),
                    2 * ( m_windowSize[1] / 2 - position[1] ) / double( m_windowSize[1] ) );
 
      // determine the z coordinate on the sphere
      glm::vec3 pTB0( p0[0], p0[1], projectOntoTBSphere( p0 ) );
      glm::vec3 pTB1( p1[0], p1[1], projectOntoTBSphere( p1 ) );
 
      // calculate the rotation axis via cross product between p0 and p1
      glm::vec3 axis = glm::cross( pTB0, pTB1 );
      axis           = glm::normalize( axis );
 
      // calculate the angle
      float t = glm::length( pTB0 - pTB1 ) / ( 2.f * trackballSize );
 
      // clamp between -1 and 1
      if ( t > 1.0f )
      {
        t = 1.0f;
      }
      else if ( t < -1.0f )
      {
        t = -1.0f;
      }
 
      float rad = 2.0f * asin( t );
 
      {
        glm::vec4 rot_axis = m_matrix * glm::vec4( axis, 0 );
        glm::mat4 rot_mat  = glm::rotate( rad, glm::vec3( rot_axis.x, rot_axis.y, rot_axis.z ) );
 
        glm::vec3 pnt    = m_cameraPosition - m_centerPosition;
        glm::vec4 pnt2   = rot_mat * glm::vec4( pnt.x, pnt.y, pnt.z, 1 );
        m_cameraPosition = m_centerPosition + glm::vec3( pnt2.x, pnt2.y, pnt2.z );
        glm::vec4 up2    = rot_mat * glm::vec4( m_upVector.x, m_upVector.y, m_upVector.z, 0 );
        m_upVector       = glm::vec3( up2.x, up2.y, up2.z );
      }
    }
 
    void CameraManipulator::update()
    {
      m_matrix = glm::lookAt( m_cameraPosition, m_centerPosition, m_upVector );
 
      if ( !isZero( m_roll ) )
      {
        glm::mat4 rot = glm::rotate( m_roll, glm::vec3( 0, 0, 1 ) );
        m_matrix      = m_matrix * rot;
      }
    }
 
  }  // namespace su
}  // namespace vk