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cOMS/camera/Camera.h

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/**
* Jingga
*
* @copyright Jingga
* @license OMS License 2.0
* @version 1.0.0
* @link https://jingga.app
*/
#ifndef TOS_CAMERA_H
#define TOS_CAMERA_H
#include "../stdlib/Types.h"
#include "../stdlib/Mathtypes.h"
#include "../math/matrix/QuaternionFloat32.h"
#include "CameraMovement.h"
#define CAMERA_MAX_INPUTS 4
// @todo Please check out if we can switch to quaternions. We tried but failed.
// The functions with a 2 at the end are our current backup solution which shouldn't be used (probably)
struct Camera {
v3_f32 location;
v4_f32 orientation;
v3_f32 front;
v3_f32 right;
v3_f32 up;
v3_f32 world_up;
float speed;
float sensitivity;
float zoom;
float fov;
float znear;
float zfar;
float aspect;
};
void
camera_update_vectors2(Camera* camera)
{
camera->front.x = cosf(OMS_DEG2RAD(camera->orientation.x)) * cosf(OMS_DEG2RAD(camera->orientation.y));
camera->front.y = sinf(OMS_DEG2RAD(camera->orientation.x));
camera->front.z = cosf(OMS_DEG2RAD(camera->orientation.x)) * sinf(OMS_DEG2RAD(camera->orientation.y));
vec3_normalize_f32(&camera->front);
vec3_cross(&camera->right, &camera->front, &camera->world_up);
vec3_normalize_f32(&camera->right);
vec3_cross(&camera->up, &camera->right, &camera->front);
vec3_normalize_f32(&camera->up);
}
void
camera_update_vectors(Camera* camera)
{
v3_f32 z = {0.0f, 0.0f, -1.0f};
quaternion_rotate_vector(&camera->front, &camera->orientation, &z);
vec3_normalize_f32(&camera->front);
vec3_cross(&camera->right, &camera->front, &camera->world_up);
vec3_normalize_f32(&camera->right);
vec3_cross(&camera->up, &camera->right, &camera->front);
vec3_normalize_f32(&camera->up);
}
// @bug up and down rotation is OK but left/right rotation is not what I would expect
void camera_rotate2(Camera* camera, float dx, float dy, float dt)
{
f32 velocity = camera->sensitivity;
camera->orientation.x += dy * camera->sensitivity;
camera->orientation.y -= dx * camera->sensitivity;
if (true) {
if (camera->orientation.x > 89.0f) {
camera->orientation.x = 89.0f;
} else if (camera->orientation.x < -89.0f) {
camera->orientation.x = -89.0f;
}
if (camera->orientation.y > 360.0f) {
camera->orientation.y -= 360.0f;
} else if (camera->orientation.y < -360.0f) {
camera->orientation.y += 360.0f;
}
}
camera_update_vectors2(camera);
}
void camera_rotate(Camera* camera, float dx, float dy, float dt)
{
f32 velocity = camera->sensitivity; // @todo do we need dt?
dx *= velocity;
dy *= velocity;
v4_f32 yaw_quat;
quaternion_from_axis_angle(&yaw_quat, &camera->world_up, dx);
v4_f32 pitch_quat;
quaternion_from_axis_angle(&pitch_quat, &camera->right, dy);
v4_f32 result;
quaternion_multiply(&result, &camera->orientation, &pitch_quat);
quaternion_multiply(&camera->orientation, &yaw_quat, &result);
quaternion_unit(&camera->orientation);
// constrain pitch
if (true) {
v3_f32 euler;
quaternion_to_euler(&camera->orientation, &euler);
bool found_constrain = false;
float pitch = euler.x;
if (pitch > 89.0f) {
pitch = 89.0f;
found_constrain = true;
} else if (pitch < -89.0f) {
pitch = -89.0f;
found_constrain = true;
}
if (found_constrain) {
v4_f32 constrained;
quaternion_from_axis_angle(&constrained, &camera->right, pitch);
quaternion_multiply(&camera->orientation, &yaw_quat, &constrained);
quaternion_unit(&camera->orientation);
}
}
camera_update_vectors(camera);
}
// you can have up to 4 camera movement inputs at the same time
void camera_movement(Camera* camera, CameraMovement* movement, float dt, bool relative_to_world = true)
{
f32 velocity = camera->speed * dt;
if (relative_to_world) {
for (int i = 0; i < CAMERA_MAX_INPUTS; i++) {
switch(movement[i]) {
case CAMERA_MOVEMENT_FORWARD: {
camera->location.z += velocity;
} break;
case CAMERA_MOVEMENT_BACK: {
camera->location.z -= velocity;
} break;
case CAMERA_MOVEMENT_LEFT: {
camera->location.x -= velocity;
} break;
case CAMERA_MOVEMENT_RIGHT: {
camera->location.x += velocity;
} break;
case CAMERA_MOVEMENT_UP: {
camera->location.y += velocity;
} break;
case CAMERA_MOVEMENT_DOWN: {
camera->location.y -= velocity;
} break;
case CAMERA_MOVEMENT_PITCH_UP: {
camera->orientation.x += velocity;
} break;
case CAMERA_MOVEMENT_PITCH_DOWN: {
camera->orientation.x -= velocity;
} break;
case CAMERA_MOVEMENT_ROLL_LEFT: {
camera->orientation.z += velocity;
} break;
case CAMERA_MOVEMENT_ROLL_RIGHT: {
camera->orientation.z -= velocity;
} break;
case CAMERA_MOVEMENT_YAW_LEFT: {
camera->orientation.y += velocity;
} break;
case CAMERA_MOVEMENT_YAW_RIGHT: {
camera->orientation.y -= velocity;
} break;
case CAMERA_MOVEMENT_ZOOM_IN: {
camera->zoom += velocity;
} break;
case CAMERA_MOVEMENT_ZOOM_OUT: {
camera->zoom -= velocity;
} break;
default: {}
}
}
} else {
v3_f32 forward = camera->front;
v3_f32 right;
vec3_cross(&right, &camera->world_up, &forward);
vec3_normalize_f32(&right);
v3_f32 up;
vec3_cross(&up, &right, &forward);
vec3_normalize_f32(&up);
for (int i = 0; i < CAMERA_MAX_INPUTS; i++) {
switch(movement[i]) {
case CAMERA_MOVEMENT_FORWARD: {
camera->location.x += forward.x * velocity;
camera->location.y += forward.y * velocity;
camera->location.z += forward.z * velocity;
} break;
case CAMERA_MOVEMENT_BACK: {
camera->location.x -= forward.x * velocity;
camera->location.y -= forward.y * velocity;
camera->location.z -= forward.z * velocity;
} break;
case CAMERA_MOVEMENT_LEFT: {
camera->location.x -= right.x * velocity;
camera->location.y -= right.y * velocity;
camera->location.z -= right.z * velocity;
} break;
case CAMERA_MOVEMENT_RIGHT: {
camera->location.x += right.x * velocity;
camera->location.y += right.y * velocity;
camera->location.z += right.z * velocity;
} break;
case CAMERA_MOVEMENT_UP: {
camera->location.x += up.x * velocity;
camera->location.y += up.y * velocity;
camera->location.z += up.z * velocity;
} break;
case CAMERA_MOVEMENT_DOWN: {
camera->location.x -= up.x * velocity;
camera->location.y -= up.y * velocity;
camera->location.z -= up.z * velocity;
} break;
case CAMERA_MOVEMENT_PITCH_UP: {
camera->orientation.x += velocity;
} break;
case CAMERA_MOVEMENT_PITCH_DOWN: {
camera->orientation.x -= velocity;
} break;
case CAMERA_MOVEMENT_ROLL_LEFT: {
camera->orientation.z += velocity;
} break;
case CAMERA_MOVEMENT_ROLL_RIGHT: {
camera->orientation.z -= velocity;
} break;
case CAMERA_MOVEMENT_YAW_LEFT: {
camera->orientation.z += velocity;
} break;
case CAMERA_MOVEMENT_YAW_RIGHT: {
camera->orientation.z -= velocity;
} break;
case CAMERA_MOVEMENT_ZOOM_IN: {
camera->zoom += velocity;
} break;
case CAMERA_MOVEMENT_ZOOM_OUT: {
camera->zoom -= velocity;
} break;
default: {}
}
}
}
}
inline
void camera_projection_matrix_lh(const Camera* __restrict camera, float* __restrict projection)
{
mat4_identity_sparse(projection);
mat4_perspective_sparse_lh(
projection,
camera->fov,
camera->aspect,
camera->znear,
camera->zfar
);
}
inline
void camera_projection_matrix_rh(const Camera* __restrict camera, float* __restrict projection)
{
mat4_identity_sparse(projection);
mat4_perspective_sparse_rh(
projection,
camera->fov,
camera->aspect,
camera->znear,
camera->zfar
);
}
// This is usually not used, since it is included in the view matrix
// expects the identity matrix
inline
void camera_translation_matrix_sparse(const Camera* __restrict camera, float* translation)
{
translation[3] = camera->location.x;
translation[7] = camera->location.y;
translation[11] = camera->location.z;
}
// @performance this function seems worth while to fully convert to simd
// even if we are not really looping anything we do have some repetetive operations (rotate, dot)
/*
void
camera_view_matrix_sparse(const Camera* __restrict camera, float* __restrict view)
{
// @performance orientation gets converted to a quat every time, pull this out
v3_f32 up = {0.0f, 1.0f, 0.0f};
quaternion_rotate_active(&up, camera->orientation.pitch, camera->orientation.yaw, camera->orientation.roll);
v3_f32 right = {1.0f, 0.0f, 0.0f};
quaternion_rotate_active(&up, camera->orientation.pitch, camera->orientation.yaw, camera->orientation.roll);
v3_f32 forward = {0.0f, 0.0f, 1.0f};
quaternion_rotate_active(&forward, camera->orientation.pitch, camera->orientation.yaw, camera->orientation.roll);
view[0] = right.x;
view[1] = right.y;
view[2] = right.z;
view[4] = up.x;
view[5] = up.y;
view[6] = up.z;
view[8] = -forward.x;
view[9] = -forward.y;
view[10] = -forward.z;
// Set the translation part
v3_f32 right_v3 = {right.x, right.y, right.z};
view[3] = -v3_dot(&right_v3, &camera->location);
v3_f32 up_v3 = {up.x, up.y, up.z};
view[7] = -v3_dot(&up_v3, &camera->location);
v3_f32 forward_v3 = {forward.x, forward.y, forward.z};
view[11] = v3_dot(&forward_v3, &camera->location);
// Last element of matrix (homogeneous coordinate)
view[15] = 1.0f;
}
*/
// https://github.com/g-truc/glm/blob/33b4a621a697a305bc3a7610d290677b96beb181/glm/ext/matrix_transform.inl
// https://learnopengl.com/code_viewer_gh.php?code=includes/learnopengl/camera.h
void
camera_view_matrix_sparse_lh(const Camera* __restrict camera, float* __restrict view)
{
// We are skipping some things because some things either get neutralized
// (e.g. position - (position + front), other values are already normalized (e.g. front)
v3_f32 f = { camera->front.x, camera->front.y, camera->front.z };
v3_f32 s;
vec3_cross(&s, &camera->up, &f);
vec3_normalize_f32(&s);
v3_f32 u;
vec3_cross(&u, &f, &s);
view[0] = s.x;
view[1] = s.y;
view[2] = s.z;
view[3] = 0.0f;
view[4] = u.x;
view[5] = u.y;
view[6] = u.z;
view[7] = 0.0f;
view[8] = f.x;
view[9] = f.y;
view[10] = f.z;
view[11] = 0;
view[12] = -vec3_dot(&s, &camera->location);
view[13] = -vec3_dot(&u, &camera->location);
view[14] = -vec3_dot(&f, &camera->location);
view[15] = 1.0f;
}
void
camera_view_matrix_sparse_rh(const Camera* __restrict camera, float* __restrict view)
{
// We are skipping some things because some things either get neutralized
// (e.g. position - (position + front), other values are already normalized (e.g. front)
v3_f32 zaxis = { -camera->front.x, -camera->front.y, -camera->front.z };
v3_f32 xaxis;
vec3_cross(&xaxis, &zaxis, &camera->world_up);
vec3_normalize_f32(&xaxis);
v3_f32 yaxis;
vec3_cross(&yaxis, &zaxis, &xaxis);
view[0] = xaxis.x;
view[1] = yaxis.x;
view[2] = zaxis.x;
view[3] = 0.0f;
view[4] = xaxis.y;
view[5] = yaxis.y;
view[6] = zaxis.y;
view[7] = 0.0f;
view[8] = xaxis.z;
view[9] = yaxis.z;
view[10] = zaxis.z;
view[11] = 0;
view[12] = -vec3_dot(&xaxis, &camera->location);
view[13] = -vec3_dot(&yaxis, &camera->location);
view[14] = -vec3_dot(&zaxis, &camera->location);
view[15] = 1.0f;
}
#endif
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