166 lines
2.9 KiB
C
166 lines
2.9 KiB
C
/** \file
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* 3D camera equation.
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*
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* Given a camera matrix and a XYZ point, returns the 2D coordinate
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* of the point.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include "camera.h"
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struct _camera_t
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{
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float near;
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float far;
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float r[4][4];
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};
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camera_t *
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camera_new(
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v3_t eye,
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v3_t lookat,
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v3_t up,
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float fov,
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float scale
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)
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{
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camera_t * c = calloc(1, sizeof(*c));
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if (!c)
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return NULL;
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camera_setup(c, eye, lookat, up, fov, scale);
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return c;
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}
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void
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camera_setup(
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camera_t * const c,
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v3_t eye,
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v3_t lookat,
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v3_t up,
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float fov,
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float scale
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)
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{
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// compute the basis for the camera
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// negative look direction from eye to destination
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v3_t w = v3_norm(v3_sub(eye, lookat));
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// compute the side axis
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v3_t u = v3_norm(v3_cross(up, w));
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// and the "up" normal
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v3_t v = v3_norm(v3_cross(w, u));
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float cam[4][4] = {};
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cam[0][0] = u.p[0];
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cam[1][0] = u.p[1];
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cam[2][0] = u.p[2];
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cam[3][0] = 0;
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cam[0][1] = v.p[0];
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cam[1][1] = v.p[1];
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cam[2][1] = v.p[2];
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cam[3][1] = 0;
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cam[0][2] = w.p[0];
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cam[1][2] = w.p[1];
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cam[2][2] = w.p[2];
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cam[3][2] = 0;
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// compute u dot c, v dot c, w, dot c
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cam[0][3] = -v3_dot(lookat, u);
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cam[1][3] = -v3_dot(lookat, v);
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cam[2][3] = -v3_dot(lookat, w);
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cam[3][3] = 1;
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for(int i = 0 ; i < 4 ; i++)
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{
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for(int j = 0 ; j < 4 ; j++)
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fprintf(stderr, " %+5.3f", cam[i][j]);
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fprintf(stderr, "\n");
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}
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// now compute the perspective projection matrix
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float s = 1.0 / tan(fov * M_PI / 180 / 2);
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c->near = 1.0;
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c->far = 200;
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float f1 = - c->far * (c->far - c->near);
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float f2 = - c->far * c->near / (c->far - c->near);
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float pers[4][4] = {
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{ s, 0, 0, 0 },
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{ 0, s, 0, 0 },
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{ 0, 0, f1, -1 },
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{ 0, 0, f2, 0 },
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};
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// and apply it to the camera matrix to generate transform
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for(int i = 0 ; i < 4 ; i++)
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{
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for(int j = 0 ; j < 4 ; j++)
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{
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float d = 0;
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for(int k = 0 ; k < 4 ; k++)
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d += cam[i][k] * pers[k][j];
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c->r[i][j] = d;
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}
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}
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for(int i = 0 ; i < 4 ; i++)
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{
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for(int j = 0 ; j < 4 ; j++)
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fprintf(stderr, " %+5.3f", c->r[i][j]);
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fprintf(stderr, "\n");
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}
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}
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/** Transform a XYZ point into a screen point.
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*
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* Returns 0 if this is behind us. Perhaps it should do a z buffer?
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* https://en.wikipedia.org/wiki/3D_projection
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*/
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int
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camera_project(
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const camera_t * const c,
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const v3_t * const v_in,
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v3_t * const v_out
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)
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{
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float v[4] = { v_in->p[0], v_in->p[1], v_in->p[2], 1 };
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float p[4] = { 0, 0, 0, 0};
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for (int i = 0 ; i < 4 ; i++)
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for (int j = 0 ; j < 4 ; j++)
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p[i] += c->r[j][i] * v[j];
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if(0) fprintf(stderr, "%.2f,%.2f,%.2f -> %.2f,%.2f,%.2f,%.2f\n",
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v[0], v[1], v[2],
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p[0], p[1], p[2], p[3]
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);
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/*
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for (int i = 0 ; i < 3 ; i++)
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p[i] /= p[3];
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*/
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p[2] /= p[3];
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// Transform to screen coordinate frame,
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// and return it to the caller
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v_out->p[0] = p[0];
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v_out->p[1] = p[1];
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v_out->p[2] = p[2];
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// what if p->p[4] == 0?
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// pz < 0 == The point is behind us; do not display?
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if (p[2] < c->near || p[2] > c->far)
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return 0;
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return 1;
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}
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