camera.cpp

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/*
 * This program source code file is part of KiCad, a free EDA CAD application.
 *
 * Copyright (C) 2015-2016 Mario Luzeiro <[email protected]>
 * Copyright (C) 2015-2020 KiCad Developers, see AUTHORS.txt for contributors.
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, you may find one here:
 * http://www.gnu.org/licenses/old-licenses/gpl-2.0.html
 * or you may search the http://www.gnu.org website for the version 2 license,
 * or you may write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA
 */
 
#include <gal/3d/camera.h>
#include <wx/log.h>
#include <algorithm>
 
// A helper function to normalize aAngle between -2PI and +2PI
inline void normalise2PI( float& aAngle )
{
 while( aAngle > 0.0 )
 aAngle -= static_cast<float>( M_PI * 2.0f );
 
 while( aAngle < 0.0 )
 aAngle += static_cast<float>( M_PI * 2.0f );
}
 
 
const wxChar *CAMERA::m_logTrace = wxT( "KI_TRACE_CAMERA" );
 
const float CAMERA::DEFAULT_MIN_ZOOM = 0.020f;
const float CAMERA::DEFAULT_MAX_ZOOM = 2.0f;
 
 
CAMERA::CAMERA( float aInitialDistance )
{
 wxLogTrace( m_logTrace, wxT( "CAMERA::CAMERA" ) );
 
 m_camera_pos_init = SFVEC3F( 0.0f, 0.0f, -aInitialDistance );
 m_board_lookat_pos_init = SFVEC3F( 0.0f );
 m_windowSize = SFVEC2I( 0, 0 );
 m_projectionType = PROJECTION_TYPE::PERSPECTIVE;
 m_interpolation_mode = CAMERA_INTERPOLATION::BEZIER;
 
 m_minZoom = DEFAULT_MIN_ZOOM;
 m_maxZoom = DEFAULT_MAX_ZOOM;
 
 Reset();
}
 
 
void CAMERA::Reset()
{
 m_parametersChanged = true;
 m_projectionMatrix = glm::mat4( 1.0f );
 m_projectionMatrixInv = glm::mat4( 1.0f );
 m_rotationMatrix = glm::mat4( 1.0f );
 m_rotationMatrixAux = glm::mat4( 1.0f );
 m_lastPosition = wxPoint( 0, 0 );
 
 m_zoom = 1.0f;
 m_zoom_t0 = 1.0f;
 m_zoom_t1 = 1.0f;
 m_camera_pos = m_camera_pos_init;
 m_camera_pos_t0 = m_camera_pos_init;
 m_camera_pos_t1 = m_camera_pos_init;
 m_lookat_pos = m_board_lookat_pos_init;
 m_lookat_pos_t0 = m_board_lookat_pos_init;
 m_lookat_pos_t1 = m_board_lookat_pos_init;
 
 m_rotate_aux = SFVEC3F( 0.0f );
 m_rotate_aux_t0 = SFVEC3F( 0.0f );
 m_rotate_aux_t1 = SFVEC3F( 0.0f );
 
 updateRotationMatrix();
 updateViewMatrix();
 m_viewMatrixInverse = glm::inverse( m_viewMatrix );
 m_scr_nX.clear();
 m_scr_nY.clear();
 rebuildProjection();
}
 
 
void CAMERA::Reset_T1()
{
 m_camera_pos_t1 = m_camera_pos_init;
 m_zoom_t1 = 1.0f;
 m_rotate_aux_t1 = SFVEC3F( 0.0f );
 m_lookat_pos_t1 = m_board_lookat_pos_init;
 
 // Since 0 = 2pi, we want to reset the angle to be the closest
 // one to where we currently are. That ensures that we rotate
 // the board around the smallest distance getting there.
 if( m_rotate_aux_t0.x > M_PI )
 m_rotate_aux_t1.x = static_cast<float>( 2.0f * M_PI );
 
 if( m_rotate_aux_t0.y > M_PI )
 m_rotate_aux_t1.y = static_cast<float>( 2.0f * M_PI );
 
 if( m_rotate_aux_t0.z > M_PI )
 m_rotate_aux_t1.z = static_cast<float>( 2.0f * M_PI );
}
 
 
void CAMERA::SetBoardLookAtPos( const SFVEC3F& aBoardPos )
{
 if( m_board_lookat_pos_init != aBoardPos )
 {
 m_board_lookat_pos_init = aBoardPos;
 m_lookat_pos = aBoardPos;
 
 m_parametersChanged = true;
 
 updateViewMatrix();
 updateFrustum();
 }
}
 
 
void CAMERA::zoomChanged()
{
 if( m_zoom < m_minZoom )
 m_zoom = m_minZoom;
 
 if( m_zoom > m_maxZoom )
 m_zoom = m_maxZoom;
 
 m_camera_pos.z = m_camera_pos_init.z * m_zoom;
 
 updateViewMatrix();
 rebuildProjection();
}
 
 
void CAMERA::updateViewMatrix()
{
 m_viewMatrix = glm::translate( glm::mat4( 1.0f ), m_camera_pos ) *
 m_rotationMatrix * m_rotationMatrixAux *
 glm::translate( glm::mat4( 1.0f ), -m_lookat_pos );
}
 
 
void CAMERA::updateRotationMatrix()
{
 m_rotationMatrixAux = glm::rotate( glm::mat4( 1.0f ), m_rotate_aux.x,
 SFVEC3F( 1.0f, 0.0f, 0.0f ) );
 normalise2PI( m_rotate_aux.x );
 
 m_rotationMatrixAux = glm::rotate( m_rotationMatrixAux, m_rotate_aux.y,
 SFVEC3F( 0.0f, 1.0f, 0.0f ) );
 normalise2PI( m_rotate_aux.y );
 
 m_rotationMatrixAux = glm::rotate( m_rotationMatrixAux, m_rotate_aux.z,
 SFVEC3F( 0.0f, 0.0f, 1.0f ) );
 normalise2PI( m_rotate_aux.z );
 
 m_parametersChanged = true;
 
 updateViewMatrix();
 updateFrustum();
}
 
 
glm::mat4 CAMERA::GetRotationMatrix() const
{
 return m_rotationMatrix * m_rotationMatrixAux;
}
 
 
void CAMERA::SetRotationMatrix( const glm::mat4& aRotation )
{
 m_parametersChanged = true;
 std::copy_n( glm::value_ptr( aRotation * glm::inverse( m_rotationMatrixAux ) ), 12,
 glm::value_ptr( m_rotationMatrix ) );
}
 
 
void CAMERA::rebuildProjection()
{
 if( ( m_windowSize.x == 0 ) || ( m_windowSize.y == 0 ) )
 return;
 
 m_frustum.ratio = (float) m_windowSize.x / (float)m_windowSize.y;
 m_frustum.farD = glm::length( m_camera_pos_init ) * m_maxZoom * 2.0f;
 
 switch( m_projectionType )
 {
 default:
 case PROJECTION_TYPE::PERSPECTIVE:
 
 m_frustum.nearD = 0.10f;
 
 m_frustum.angle = 45.0f;
 
 m_projectionMatrix = glm::perspective( glm::radians( m_frustum.angle ), m_frustum.ratio,
 m_frustum.nearD, m_frustum.farD );
 
 m_projectionMatrixInv = glm::inverse( m_projectionMatrix );
 
 m_frustum.tang = glm::tan( glm::radians( m_frustum.angle ) * 0.5f );
 
 m_focalLen.x = ( (float)m_windowSize.y / (float)m_windowSize.x ) / m_frustum.tang;
 m_focalLen.y = 1.0f / m_frustum.tang;
 
 m_frustum.nh = 2.0f * m_frustum.nearD * m_frustum.tang;
 m_frustum.nw = m_frustum.nh * m_frustum.ratio;
 m_frustum.fh = 2.0f * m_frustum.farD * m_frustum.tang;
 m_frustum.fw = m_frustum.fh * m_frustum.ratio;
 break;
 
 case PROJECTION_TYPE::ORTHO:
 
 // Keep the viewed plane at (m_camera_pos_init * m_zoom) the same dimensions in both projections.
 m_frustum.angle = 45.0f;
 m_frustum.tang = glm::tan( glm::radians( m_frustum.angle ) * 0.5f );
 
 m_frustum.nearD = -m_frustum.farD; // Use a symmetrical clip plane for ortho projection
 
 const float orthoReductionFactor =
 glm::length( m_camera_pos_init ) * m_zoom * m_frustum.tang;
 
 // Initialize Projection Matrix for Orthographic View
 m_projectionMatrix = glm::ortho( -m_frustum.ratio * orthoReductionFactor,
 m_frustum.ratio * orthoReductionFactor,
 -orthoReductionFactor,
 orthoReductionFactor,
 m_frustum.nearD, m_frustum.farD );
 
 m_projectionMatrixInv = glm::inverse( m_projectionMatrix );
 
 m_frustum.nw = orthoReductionFactor * 2.0f * m_frustum.ratio;
 m_frustum.nh = orthoReductionFactor * 2.0f;
 m_frustum.fw = m_frustum.nw;
 m_frustum.fh = m_frustum.nh;
 
 break;
 }
 
 if( ( m_windowSize.x > 0 ) && ( m_windowSize.y > 0 ) )
 {
 m_scr_nX.resize( m_windowSize.x + 1 );
 m_scr_nY.resize( m_windowSize.y + 1 );
 
 // Precalc X values for camera -> ray generation
 for( unsigned int x = 0; x < (unsigned int)m_windowSize.x + 1; ++x )
 {
 // Converts 0.0 .. 1.0
 const float xNormalizedDeviceCoordinates = ( ( (float)x + 0.5f ) /
 (m_windowSize.x - 0.0f) );
 
 // Converts -1.0 .. 1.0
 m_scr_nX[x] = 2.0f * xNormalizedDeviceCoordinates - 1.0f;
 }
 
 // Precalc Y values for camera -> ray generation
 for( unsigned int y = 0; y < (unsigned int)m_windowSize.y + 1 ; ++y )
 {
 // Converts 0.0 .. 1.0
 const float yNormalizedDeviceCoordinates = ( ( (float)y + 0.5f ) /
 (m_windowSize.y - 0.0f) );
 
 // Converts -1.0 .. 1.0
 m_scr_nY[y] = 2.0f * yNormalizedDeviceCoordinates - 1.0f;
 }
 
 updateFrustum();
 }
}
 
 
void CAMERA::updateFrustum()
{
 // Update matrix and vectors
 m_viewMatrixInverse = glm::inverse( m_viewMatrix );
 
 m_right = glm::normalize( SFVEC3F( m_viewMatrixInverse *
 glm::vec4( SFVEC3F( 1.0, 0.0, 0.0 ), 0.0 ) ) );
 
 m_up = glm::normalize( SFVEC3F( m_viewMatrixInverse *
 glm::vec4( SFVEC3F( 0.0, 1.0, 0.0 ), 0.0 ) ) );
 
 m_dir = glm::normalize( SFVEC3F( m_viewMatrixInverse *
 glm::vec4( SFVEC3F( 0.0, 0.0, 1.0 ), 0.0 ) ) );
 
 m_pos = SFVEC3F( m_viewMatrixInverse * glm::vec4( SFVEC3F( 0.0, 0.0, 0.0 ), 1.0 ) );
 
 /*
 * Frustum is a implementation based on a tutorial by
 * http://www.lighthouse3d.com/tutorials/view-frustum-culling/
 */
 
 const SFVEC3F half_right_nw = m_right * m_frustum.nw * 0.5f;
 const SFVEC3F half_right_fw = m_right * m_frustum.fw * 0.5f;
 const SFVEC3F half_up_nh = m_up * m_frustum.nh * 0.5f;
 const SFVEC3F half_up_fh = m_up * m_frustum.fh * 0.5f;
 
 // compute the centers of the near and far planes
 m_frustum.nc = m_pos - m_dir * m_frustum.nearD;
 m_frustum.fc = m_pos - m_dir * m_frustum.farD;
 
 // compute the 4 corners of the frustum on the near plane
 m_frustum.ntl = m_frustum.nc + half_up_nh - half_right_nw;
 m_frustum.ntr = m_frustum.nc + half_up_nh + half_right_nw;
 m_frustum.nbl = m_frustum.nc - half_up_nh - half_right_nw;
 m_frustum.nbr = m_frustum.nc - half_up_nh + half_right_nw;
 
 // compute the 4 corners of the frustum on the far plane
 m_frustum.ftl = m_frustum.fc + half_up_fh - half_right_fw;
 m_frustum.ftr = m_frustum.fc + half_up_fh + half_right_fw;
 m_frustum.fbl = m_frustum.fc - half_up_fh - half_right_fw;
 m_frustum.fbr = m_frustum.fc - half_up_fh + half_right_fw;
 
 if( ( m_windowSize.x > 0 ) && ( m_windowSize.y > 0 ) )
 {
 // Reserve size for precalc values
 m_right_nX.resize( m_windowSize.x + 1 );
 m_up_nY.resize( m_windowSize.y + 1 );
 
 // Precalc X values for camera -> ray generation
 for( unsigned int x = 0; x < ( (unsigned int) m_windowSize.x + 1 ); ++x )
 m_right_nX[x] = half_right_nw * m_scr_nX[x];
 
 // Precalc Y values for camera -> ray generation
 for( unsigned int y = 0; y < ( (unsigned int) m_windowSize.y + 1 ); ++y )
 m_up_nY[y] = half_up_nh * m_scr_nY[y];
 }
}
 
 
void CAMERA::MakeRay( const SFVEC2I& aWindowPos, SFVEC3F& aOutOrigin,
 SFVEC3F& aOutDirection ) const
{
 wxASSERT( aWindowPos.x < m_windowSize.x );
 wxASSERT( aWindowPos.y < m_windowSize.y );
 
 aOutOrigin = m_frustum.nc + m_up_nY[aWindowPos.y] + m_right_nX[aWindowPos.x];
 
 switch( m_projectionType )
 {
 default:
 case PROJECTION_TYPE::PERSPECTIVE:
 aOutDirection = glm::normalize( aOutOrigin - m_pos );
 break;
 
 case PROJECTION_TYPE::ORTHO:
 aOutDirection = -m_dir + SFVEC3F( FLT_EPSILON );
 break;
 }
}
 
 
void CAMERA::MakeRay( const SFVEC2F& aWindowPos, SFVEC3F& aOutOrigin,
 SFVEC3F& aOutDirection ) const
{
 wxASSERT( aWindowPos.x < (float)m_windowSize.x );
 wxASSERT( aWindowPos.y < (float)m_windowSize.y );
 
 const SFVEC2F floorWinPos_f = glm::floor( aWindowPos );
 const SFVEC2I floorWinPos_i = (SFVEC2I)floorWinPos_f;
 const SFVEC2F relativeWinPos = aWindowPos - floorWinPos_f;
 
 // Note: size of vectors m_up and m_right are m_windowSize + 1
 const SFVEC3F up_plus_right = m_up_nY[floorWinPos_i.y] * (1.0f - relativeWinPos.y) +
 m_up_nY[floorWinPos_i.y + 1] * relativeWinPos.y +
 m_right_nX[floorWinPos_i.x] * (1.0f - relativeWinPos.x) +
 m_right_nX[floorWinPos_i.x + 1] * relativeWinPos.x;
 
 aOutOrigin = up_plus_right + m_frustum.nc;
 
 switch( m_projectionType )
 {
 default:
 case PROJECTION_TYPE::PERSPECTIVE:
 aOutDirection = glm::normalize( aOutOrigin - m_pos );
 break;
 
 case PROJECTION_TYPE::ORTHO:
 aOutDirection = -m_dir + SFVEC3F( FLT_EPSILON );
 break;
 }
}
 
 
void CAMERA::MakeRayAtCurrentMousePosition( SFVEC3F& aOutOrigin, SFVEC3F& aOutDirection ) const
{
 const SFVEC2I windowPos = SFVEC2I( m_lastPosition.x, m_windowSize.y - m_lastPosition.y );
 
 if( ( 0 < windowPos.x ) && ( windowPos.x < m_windowSize.x ) &&
 ( 0 < windowPos.y ) && ( windowPos.y < m_windowSize.y ) )
 {
 MakeRay( windowPos, aOutOrigin, aOutDirection );
 }
}
 
 
const glm::mat4& CAMERA::GetProjectionMatrix() const
{
 return m_projectionMatrix;
}
 
 
const glm::mat4& CAMERA::GetProjectionMatrixInv() const
{
 return m_projectionMatrixInv;
}
 
 
float CAMERA::GetCameraMinDimension() const
{
 return -m_camera_pos_init.z * m_frustum.tang;
}
 
 
void CAMERA::ResetXYpos()
{
 m_parametersChanged = true;
 m_camera_pos.x = 0.0f;
 m_camera_pos.y = 0.0f;
 
 updateViewMatrix();
 updateFrustum();
}
 
 
void CAMERA::ResetXYpos_T1()
{
 m_camera_pos_t1.x = 0.0f;
 m_camera_pos_t1.y = 0.0f;
}
 
 
const glm::mat4& CAMERA::GetViewMatrix() const
{
 return m_viewMatrix;
}
 
 
void CAMERA::SetViewMatrix( glm::mat4 aViewMatrix )
{
 SetRotationMatrix( aViewMatrix );
 
 // The look at position in the view frame.
 glm::vec4 lookat = aViewMatrix * glm::vec4( m_lookat_pos, 1.0f );
 
 wxLogTrace( m_logTrace,
 wxT( "CAMERA::SetViewMatrix aViewMatrix[3].z =%f, old_zoom=%f, new_zoom=%f, "
 "m[3].z=%f" ),
 aViewMatrix[3].z, m_zoom, lookat.z / m_camera_pos_init.z, lookat.z );
 
 m_zoom = lookat.z / m_camera_pos_init.z;
 
 if( m_zoom > m_maxZoom )
 {
 m_zoom = m_maxZoom;
 aViewMatrix[3].z += -lookat.z + m_maxZoom * m_camera_pos_init.z;
 }
 else if( m_zoom < m_minZoom )
 {
 m_zoom = m_minZoom;
 aViewMatrix[3].z += -lookat.z + m_minZoom * m_camera_pos_init.z;
 }
 
 m_viewMatrix = std::move( aViewMatrix );
 m_camera_pos = m_viewMatrix
 * glm::inverse( m_rotationMatrix * m_rotationMatrixAux
 * glm::translate( glm::mat4( 1.0f ), -m_lookat_pos ) )[3];
}
 
 
const glm::mat4& CAMERA::GetViewMatrix_Inv() const
{
 return m_viewMatrixInverse;
}
 
 
void CAMERA::SetCurMousePosition( const wxPoint& aNewMousePosition )
{
 m_lastPosition = aNewMousePosition;
}
 
 
void CAMERA::ToggleProjection()
{
 if( m_projectionType == PROJECTION_TYPE::ORTHO )
 m_projectionType = PROJECTION_TYPE::PERSPECTIVE;
 else
 m_projectionType = PROJECTION_TYPE::ORTHO;
 
 rebuildProjection();
}
 
 
bool CAMERA::SetCurWindowSize( const wxSize& aSize )
{
 const SFVEC2I newSize = SFVEC2I( aSize.x, aSize.y );
 
 if( m_windowSize != newSize )
 {
 m_windowSize = newSize;
 rebuildProjection();
 
 return true;
 }
 
 return false;
}
 
 
void CAMERA::ZoomReset()
{
 m_zoom = 1.0f;
 
 m_camera_pos.z = m_camera_pos_init.z;
 
 updateViewMatrix();
 rebuildProjection();
}
 
 
bool CAMERA::Zoom( float aFactor )
{
 if( ( m_zoom <= m_minZoom && aFactor > 1 ) || ( m_zoom >= m_maxZoom && aFactor < 1 )
 || aFactor == 1 )
 {
 return false;
 }
 
 float zoom = m_zoom;
 m_zoom /= aFactor;
 
 if( m_zoom <= m_minZoom && aFactor > 1 )
 {
 aFactor = zoom / m_minZoom;
 m_zoom = m_minZoom;
 }
 else if( m_zoom >= m_maxZoom && aFactor < 1 )
 {
 aFactor = zoom / m_maxZoom;
 m_zoom = m_maxZoom;
 }
 
 m_camera_pos.z /= aFactor;
 
 updateViewMatrix();
 rebuildProjection();
 
 return true;
}
 
 
bool CAMERA::Zoom_T1( float aFactor )
{
 if( ( m_zoom <= m_minZoom && aFactor > 1 ) || ( m_zoom >= m_maxZoom && aFactor < 1 )
 || aFactor == 1 )
 {
 return false;
 }
 
 m_zoom_t1 = m_zoom / aFactor;
 
 if( m_zoom_t1 < m_minZoom )
 m_zoom_t1 = m_minZoom;
 
 if( m_zoom_t1 > m_maxZoom )
 m_zoom_t1 = m_maxZoom;
 
 m_camera_pos_t1.z = m_camera_pos_init.z * m_zoom_t1;
 
 return true;
}
 
 
void CAMERA::RotateX( float aAngleInRadians )
{
 m_rotate_aux.x += aAngleInRadians;
 updateRotationMatrix();
}
 
 
void CAMERA::RotateY( float aAngleInRadians )
{
 m_rotate_aux.y += aAngleInRadians;
 updateRotationMatrix();
}
 
 
void CAMERA::RotateZ( float aAngleInRadians )
{
 m_rotate_aux.z += aAngleInRadians;
 updateRotationMatrix();
}
 
 
void CAMERA::RotateX_T1( float aAngleInRadians )
{
 m_rotate_aux_t1.x += aAngleInRadians;
}
 
 
void CAMERA::RotateY_T1( float aAngleInRadians )
{
 m_rotate_aux_t1.y += aAngleInRadians;
}
 
 
void CAMERA::RotateZ_T1( float aAngleInRadians )
{
 m_rotate_aux_t1.z += aAngleInRadians;
}
 
 
void CAMERA::SetT0_and_T1_current_T()
{
 m_camera_pos_t0 = m_camera_pos;
 m_lookat_pos_t0 = m_lookat_pos;
 m_rotate_aux_t0 = m_rotate_aux;
 m_zoom_t0 = m_zoom;
 
 m_camera_pos_t1 = m_camera_pos;
 m_lookat_pos_t1 = m_lookat_pos;
 m_rotate_aux_t1 = m_rotate_aux;
 m_zoom_t1 = m_zoom;
}
 
 
void CAMERA::Interpolate( float t )
{
 wxASSERT( t >= 0.0f );
 
 const float t0 = 1.0f - t;
 
 m_camera_pos = m_camera_pos_t0 * t0 + m_camera_pos_t1 * t;
 m_lookat_pos = m_lookat_pos_t0 * t0 + m_lookat_pos_t1 * t;
 m_rotate_aux = m_rotate_aux_t0 * t0 + m_rotate_aux_t1 * t;
 m_zoom = m_zoom_t0 * t0 + m_zoom_t1 * t;
 
 m_parametersChanged = true;
 
 updateRotationMatrix();
 rebuildProjection();
}
 
 
bool CAMERA::ParametersChanged()
{
 const bool parametersChanged = m_parametersChanged;
 
 m_parametersChanged = false;
 
 return parametersChanged;
}