camera.cpp

浙江大学 RoboCup3D 2006 源代码

/***************************************************************************
 *   Copyright (C) 2004 - 2006 by ZJUBase                                  *
 *                                National Lab of Industrial Control Tech. *
 *                                Zhejiang University, China               *

*                                                                         *
 *   Team members:                                                         *
 *    Currently the team leader is,                                        *
 *           Hao JIANG ([e-mail]; [e-mail])       *
 *    In the next season, the leader will be                               *
 *           Yifeng ZHANG ([e-mail])                        *
 *    ZJUBase 3D agent is created by                                       *
 *           Dijun LUO ([e-mail])                             *
 *    All the members who has ever contributed:                            *
 *           Jun JIANG                                                     *
 *           Xinfeng DU ([e-mail])                             *
 *           Yang ZHOU ([e-mail])                             *
 *           Zhipeng YANG                                                  *
 *           Xiang FAN                                                     *
 *                                                                         *
 *   Team Manager:                                                          *
 *      Ms. Rong XIONG ([e-mail])                            *
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 ***************************************************************************/

#include "camera.h"

Camera::Camera(const Vector3& camPos,
               const Vector3& lookAtPos,
               const Vector3& upVector)
{
  mPosition  = camPos;
  mLookAtPos = lookAtPos;
  mUpVector  = upVector;

  //resets the camera
  RefreshCam();

  mFixDist = 8.0;
  mMouseSensitivity = 0.01;
}

Vector3
Camera::GetCameraPos()
{
  return mPosition;
}

Vector3
Camera::GetLookAtPos()
{
  return mLookAtPos;
}

void
Camera::SetCameraPos(const Vector3& newCamPos)
{
  mPosition = newCamPos;
  RefreshCam();
}

void
Camera::SetLookAtPos(const Vector3& lookAtPos)
{
  mLookAtPos = lookAtPos;
  RefreshCam();
}

void
Camera::SetUpVector(const Vector3& upVector)
{
  mUpVector = upVector;
  RefreshCam();
}

void
Camera::Look()
{
  gluLookAt( mPosition[0], mPosition[1], mPosition[2],
             mLookAtPos[0], mLookAtPos[1], mLookAtPos[2],
             mUpVector[0], mUpVector[1], mUpVector[2]);
}

void
Camera::RefreshCam()
{
  //resets the camera attributes mTheta and mPhi
  Vector3 tmp = mLookAtPos - mPosition;
  mTheta = acos(tmp[2] / tmp.mod());
  Vector2 tmp2(mLookAtPos[0] - mPosition[0], mLookAtPos[1] - mPosition[1]);
  mPhi = tmp2.ang() / 180. * pi;
}

void
Camera::MoveCamForward(double steps)
{
  //move camera 'steps' meters into direction we are facing
  Vector3 dir = (mLookAtPos - mPosition).Normalized()*steps;
  mPosition   += dir;
  mLookAtPos  += dir;
}

void
Camera::MoveCamStrafeForward(double steps)
{
  //move camera 'steps' meters into direction we are facing
  Vector3 dir = (mLookAtPos - mPosition).Normalized()*steps;
  //remove z-coord
  dir[2]=0.0f;
  
  mPosition   += dir;
  mLookAtPos  += dir;
}

void Camera::MoveCamUp(double steps)
{
    mPosition[2] += steps;
    mLookAtPos[2] += steps;
}

void
Camera::MoveCamStrafe(double steps)
{
  //move cam perpendicular to our current direction
  Vector3 tmp = (mLookAtPos - mPosition);
  Vector3 dir = (mUpVector.Cross(tmp)).Normalized()*steps;
  mPosition   += dir;
  mLookAtPos  += dir;
}

//reset the Camera by taking the difference between the current
//mousePos and the given reference pos, a simple refPos could be the
//middle of the screen
void
Camera::SetViewByMouse(const Vector2& mousePos,
                       const Vector2& refPos)
{
  double deltaX = mousePos.x - refPos.x;
  double deltaY = mousePos.y - refPos.y;

  mTheta += mMouseSensitivity * deltaY;
  if(mTheta < mMouseSensitivity) mTheta = mMouseSensitivity;
  else if (mTheta >  pi - mMouseSensitivity) mTheta = pi - mMouseSensitivity;

  mPhi -= mMouseSensitivity * deltaX;
  if(mPhi < 0) mPhi += 2*pi;
  else if (mPhi > 2*pi) mPhi -= 2*pi;

  mLookAtPos[0] = mPosition[0] + mFixDist * sin(mTheta) * cos(mPhi);
  mLookAtPos[1] = mPosition[1] + mFixDist * sin(mTheta) * sin(mPhi);
  mLookAtPos[2] = mPosition[2] + mFixDist * cos(mTheta);
}