plumageRender/base/camera.hpp

/*
* Basic camera class
*
* Copyright (C) 2016 by Sascha Willems - www.saschawillems.de
*
* This code is licensed under the MIT license (MIT) (http://opensource.org/licenses/MIT)
*/

#define GLM_FORCE_RADIANS
#define GLM_FORCE_DEPTH_ZERO_TO_ONE
//#define GLM_FORCE_LEFT_HANDED

#include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp>
#include <glm/gtc/matrix_transform.hpp>

class Camera
{
private:
	float fov;
	float znear, zfar;

	void updateViewMatrix()
	{
		glm::mat4 rotM =rotationMatrix;
		
		glm::mat4 transM;
		/*
		rotM = glm::rotate(rotM, glm::radians(rotation.x * (flipY ? -1.0f : 1.0f)), glm::vec3(1.0f, 0.0f, 0.0f));
		rotM = glm::rotate(rotM, glm::radians(rotation.y), glm::vec3(0.0f, 1.0f, 0.0f));
		rotM = glm::rotate(rotM, glm::radians(rotation.z), glm::vec3(0.0f, 0.0f, 1.0f));
		*/
		glm::vec3 translation = position;

		if (flipY) {
			translation.y *= -1.0f;
		}
		transM = glm::translate(glm::mat4(1.0f), translation);

		if (type == CameraType::firstperson)
		{
			matrices.view = rotM * transM;
		}
		else
		{
			this->forward = glm::normalize(lookAtPoint - position);
			//matrices.view = getLookAtViewMatrix();
			
			//matrices.view = transM * rotM ;
			// matrices.view = transM * glm::transpose(rotationMatrix);//LookAt(position, to, up, false, true);//transM * glm::transpose(glm::inverse(rotationMatrix));
			matrices.view = LookAt(position, lookAtPoint, up, true, true);
		}

		//viewPos = glm::vec4(position, 0.0f) * glm::vec4(-1.0f, 1.0f, -1.0f, 1.0f);

		updated = true;
	};
public:
	enum CameraType { lookat, firstperson };
	CameraType type = CameraType::lookat;

	glm::vec3 rotation = glm::vec3();
	glm::vec3 position = glm::vec3();
	glm::vec4 viewPos = glm::vec4();
	glm::vec3 lookAtPoint = glm::vec3();
	glm::vec3 forward = glm::normalize(lookAtPoint - position);
	glm::vec3 up = glm::vec3();
	glm::mat4 rotationMatrix = glm::mat4();
	
	float rotationSpeed = 1.0f;
	float movementSpeed = 1.0f;
	

	bool updated = false;
	bool flipY = false;

	struct
	{
		glm::mat4 perspective;
		glm::mat4 view;
	} matrices;

	struct
	{
		bool left = false;
		bool right = false;
		bool up = false;
		bool down = false;
	} keys;

	bool moving()
	{
		return keys.left || keys.right || keys.up || keys.down;
	}

	float getNearClip() { 
		return znear;
	}

	float getFarClip() {
		return zfar;
	}

	void setLookAtPoint(glm::vec3 lookAtPoint)
	{
		this->lookAtPoint = lookAtPoint;
	}

	void setUp(glm::vec3 up)
	{
		this->up = up;
	}
	/*
		<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD>
		https://zhuanlan.zhihu.com/p/635801612
	*/
	
	glm::mat4 GetProjectionMatrixFromClip(float zleft, float zright, float zbottom, float ztop, float znear, float zfar, bool zPositive)
	{
		if (zPositive)
		{
			float A = -(zfar + znear) / (znear - zfar);
			float B = 2 * (zfar * znear) / (znear - zfar);
			glm::mat4 T = glm::mat4(
				2 * znear / (zright - zleft), 0, -(zright + zleft) / (zright - zleft), 0,
				0, 2 * znear / (ztop - zbottom), -(ztop + zbottom) / (ztop - zbottom), 0,
				0, 0, A, B,
				0, 0, 1, 0);
			T = glm::transpose(T); // let's transpose it back to column major
			return T;
		}
		else
		{
			float A = (zfar + znear) / (znear - zfar);
			float B = 2 * (zfar * znear) / (znear - zfar);
			glm::mat4 T = glm::mat4(
				2 * znear / (zright - zleft), 0, (zright + zleft) / (zright - zleft), 0,
				0, 2 * znear / (ztop - zbottom), (ztop + zbottom) / (ztop - zbottom), 0,
				0, 0, A, B,
				0, 0, -1, 0);
			T = glm::transpose(T); // let's transpose it back to column major
			return T;
		}
	}

	void setProjectionMatrix(float fx, float fy, float u0, float v0, float znear, float zfar, float viewWidth, float viewHeight, bool zPositive, bool rightHand)
	{
		float l = -u0 / fx * znear;
		float r = (viewWidth - u0) / fx * znear;
		float t = -v0 / fy * znear;
		float b = (viewHeight - v0) / fy * znear;
		glm::mat4 perspective = glm::mat4(1.f);
		if (rightHand)
		{
			if (zPositive)
			{ // right hand system and z positive, usually used in 3d reconstruction/SFM/SLAM
				perspective = GetProjectionMatrixFromClip(l, r, b, t, znear, zfar, zPositive);
			}
			else
			{ // right hand system, z negative, usually used in OpenGL
				perspective = GetProjectionMatrixFromClip(l, r, -b, -t, znear, zfar, zPositive);
			}
		}
		else
		{
			if (zPositive)
			{ // left hand system, z positive
				perspective = GetProjectionMatrixFromClip(l, r, -b, -t, znear, zfar, zPositive);
			}
			else
			{ // left hand system, z negative
				perspective = GetProjectionMatrixFromClip(l, r, b, t, znear, zfar, zPositive);
			}
		}
		matrices.perspective = perspective;
	}

	glm::mat4 LookAt(const glm::vec3& from, const glm::vec3& to, const glm::vec3& up, bool zPositive, bool rightHand)
	{
		//this->position = from;
		//this->lookAtPoint = to;
		//this->up = up;
		// we stands on "from" and look at "to"
		// if zPositive = true, the destination is in the area of the positive half-axis of z, otherwise it is negative
		// if rightHand = true, the coordinate system is right-handed, otherwise it is left-handed
		glm::vec3 zAxis = glm::normalize(to - from);
		glm::vec3 yAxis = glm::normalize(up);
		glm::vec3 xAxis;

		if (rightHand)
		{
			if (zPositive)
			{ // rightHand = true and zPositive = true, usually used in 3d reconstruction
				yAxis = -yAxis;
				//zAxis = -zAxis;
			}
			else
			{ // rightHand = true and zPositive = false, usually used in OpenGL
				zAxis = -zAxis;
				
			}
		}
		else
		{ // left-hand
			if (!zPositive)
			{
				zAxis = -zAxis;
				yAxis = -yAxis;
			}
		}

		xAxis = glm::normalize(glm::cross(yAxis, zAxis));
		yAxis = glm::normalize(glm::cross(zAxis, xAxis));

		// glm matrix is column major, so if you set like this, you will notice that the matrix is transposed when you use it.
		glm::mat3 R = glm::mat3(
			xAxis.x, xAxis.y, xAxis.z,
			yAxis.x, yAxis.y, yAxis.z,
			zAxis.x, zAxis.y, zAxis.z
		);
		//R = rotationMatrix;
		R = glm::transpose(R); // Let's transpose it back
		//R = glm::inverse(R);
		
		glm::vec3 t = -R * from; // t = -R * from;

		//R = glm::transpose(R);
		/**/
		glm::mat4 m = glm::mat4(
			xAxis.x, xAxis.y, xAxis.z, t.x,
			yAxis.x, yAxis.y, yAxis.z, t.y,
			zAxis.x, zAxis.y, zAxis.z, t.z,
			0, 0, 0, 1);
		
		/*
		//R = glm::transpose(R);
		glm::mat4 m = glm::mat4(
			R[0][0], R[0][1],R[0][2], t.x,
			R[1][0], R[1][1],R[1][2], t.y,
			R[2][0], R[2][1],R[2][2], t.z,
			0, 0, 0, 1);
		
		glm::mat4 m = glm::mat4(
			1, 0, 0,0 ,
			0, 1, 0,0 , 
			0, 0, 1, 0, 
			0, 0, 0, 1);
		*/
		m = glm::transpose(m); // Let's transpose it back
		//m = glm::inverse(m);
		return m;
	}


	glm::mat4 getLookAtViewMatrix()
	{
		return glm::lookAt(position, position + forward, up);
	}

	/*
		GDC2007<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Koshy George
	*/
	void setPerspective(float fx, float fy, float cx, float cy, float znear, float zfar)
	{
		this->znear = znear;
		this->zfar = zfar;
		float A = -(zfar + znear) / (znear - zfar);
		float B = -2 * (zfar * znear) / (znear - zfar);
		glm::mat4 persepctive = glm::mat4(glm::vec4(fx / cx, 0, 0, 0),
								glm::vec4(0, fy / cy, 0, 0),
								glm::vec4(0, 0, A, B),
								glm::vec4(0, 0, -1, 0));
		matrices.perspective = persepctive;
		
	}


	void setPerspective(float fov, float aspect, float znear, float zfar)
	{
		this->fov = fov;
		this->znear = znear;
		this->zfar = zfar;
		matrices.perspective = glm::perspective(glm::radians(fov), aspect, znear, zfar);
		if (flipY) {
			matrices.perspective[1][1] *= -1.0f;
		}
	};

	void updateAspectRatio(float aspect)
	{
		matrices.perspective = glm::perspective(glm::radians(fov), aspect, znear, zfar);
		if (flipY) {
			matrices.perspective[1][1] *= -1.0f;
		}
	}

	void setPosition(glm::vec3 position)
	{
		this->position = position;
		updateViewMatrix();
	}

	void setRotation(glm::mat3 rotaionMatrix)
	{
		this->rotationMatrix = rotaionMatrix;
		updateViewMatrix();
	}

	void rotate(glm::vec3 delta)
	{
		this->rotation += delta;
		updateViewMatrix();
	}

	void setTranslation(glm::vec3 translation)
	{
		this->position = translation;
		updateViewMatrix();
	};

	void translate(glm::vec3 delta)
	{
		this->position += delta;
		updateViewMatrix();
	}

	void setRotationSpeed(float rotationSpeed)
	{
		this->rotationSpeed = rotationSpeed;
	}

	void setMovementSpeed(float movementSpeed)
	{
		this->movementSpeed = movementSpeed;
	}

	void update(float deltaTime)
	{
		updated = false;
		if (type == CameraType::firstperson)
		{
			if (moving())
			{
				glm::vec3 camFront;
				camFront.x = -cos(glm::radians(rotation.x)) * sin(glm::radians(rotation.y));
				camFront.y = sin(glm::radians(rotation.x));
				camFront.z = cos(glm::radians(rotation.x)) * cos(glm::radians(rotation.y));
				camFront = glm::normalize(camFront);

				float moveSpeed = deltaTime * movementSpeed;

				if (keys.up)
					position += camFront * moveSpeed;
				if (keys.down)
					position -= camFront * moveSpeed;
				if (keys.left)
					position -= glm::normalize(glm::cross(camFront, glm::vec3(0.0f, 1.0f, 0.0f))) * moveSpeed;
				if (keys.right)
					position += glm::normalize(glm::cross(camFront, glm::vec3(0.0f, 1.0f, 0.0f))) * moveSpeed;
			}
		}
		updateViewMatrix();
	};

	// Update camera passing separate axis data (gamepad)
	// Returns true if view or position has been changed
	bool updatePad(glm::vec2 axisLeft, glm::vec2 axisRight, float deltaTime)
	{
		bool retVal = false;

		if (type == CameraType::firstperson)
		{
			// Use the common console thumbstick layout		
			// Left = view, right = move

			const float deadZone = 0.0015f;
			const float range = 1.0f - deadZone;

			glm::vec3 camFront;
			camFront.x = -cos(glm::radians(rotation.x)) * sin(glm::radians(rotation.y));
			camFront.y = sin(glm::radians(rotation.x));
			camFront.z = cos(glm::radians(rotation.x)) * cos(glm::radians(rotation.y));
			camFront = glm::normalize(camFront);

			float moveSpeed = deltaTime * movementSpeed * 2.0f;
			float rotSpeed = deltaTime * rotationSpeed * 50.0f;
			 
			// Move
			if (fabsf(axisLeft.y) > deadZone)
			{
				float pos = (fabsf(axisLeft.y) - deadZone) / range;
				position -= camFront * pos * ((axisLeft.y < 0.0f) ? -1.0f : 1.0f) * moveSpeed;
				retVal = true;
			}
			if (fabsf(axisLeft.x) > deadZone)
			{
				float pos = (fabsf(axisLeft.x) - deadZone) / range;
				position += glm::normalize(glm::cross(camFront, glm::vec3(0.0f, 1.0f, 0.0f))) * pos * ((axisLeft.x < 0.0f) ? -1.0f : 1.0f) * moveSpeed;
				retVal = true;
			}

			// Rotate
			if (fabsf(axisRight.x) > deadZone)
			{
				float pos = (fabsf(axisRight.x) - deadZone) / range;
				rotation.y += pos * ((axisRight.x < 0.0f) ? -1.0f : 1.0f) * rotSpeed;
				retVal = true;
			}
			if (fabsf(axisRight.y) > deadZone)
			{
				float pos = (fabsf(axisRight.y) - deadZone) / range;
				rotation.x -= pos * ((axisRight.y < 0.0f) ? -1.0f : 1.0f) * rotSpeed;
				retVal = true;
			}
		}
		else
		{
			// todo: move code from example base class for look-at
		}

		if (retVal)
		{
			updateViewMatrix();
		}

		return retVal;
	}

};