Squashed 'third_party/eigen/' content from commit 61d72f6
Change-Id: Iccc90fa0b55ab44037f018046d2fcffd90d9d025
git-subtree-dir: third_party/eigen
git-subtree-split: 61d72f6383cfa842868c53e30e087b0258177257
diff --git a/demos/opengl/camera.h b/demos/opengl/camera.h
new file mode 100644
index 0000000..15714d2
--- /dev/null
+++ b/demos/opengl/camera.h
@@ -0,0 +1,118 @@
+// 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