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/**
@file UprightFrame.h
@author Morgan McGuire, http://graphics.cs.williams.edu
*/
#ifndef G3D_UPRIGHTFRAME_H
#define G3D_UPRIGHTFRAME_H
#include "G3D/platform.h"
#include "G3D/Spline.h"
#include "G3D/Vector3.h"
#include "G3D/CoordinateFrame.h"
namespace G3D {
/**
Coordinate frame expressed in Euler angles.
Unlike a G3D::Quat, UprightFrame always keeps the reference frame from rolling about its own z axis.
Particularly useful for cameras.
@sa G3D::CoordinateFrame, G3D::Matrix4, G3D::PhysicsFrame, G3D::UprightSpline, G3D::UprightSplineManipulator
*/
class UprightFrame {
public:
Vector3 translation;
/** -pi/2 < pitch < pi/2 in radians about the X-axis */
float pitch;
/** In radians about the Y-axis */
float yaw;
inline UprightFrame(const Vector3& t = Vector3::zero(), float p = 0, float y = 0)
: translation(t), pitch(p), yaw(y) {}
UprightFrame(const CoordinateFrame& cframe);
CoordinateFrame toCoordinateFrame() const;
/** Supports implicit cast to CoordinateFrame */
inline operator CoordinateFrame() const {
return toCoordinateFrame();
}
/** Required for use with spline */
UprightFrame operator+(const UprightFrame& other) const;
/** Required for use with spline */
UprightFrame operator*(const float k) const;
/**
Unwraps the yaw values in the elements of the array such that
they still represent the same angles but strictly increase/decrease
without wrapping about zero. For use with Spline<UprightFrame>
*/
static void unwrapYaw(UprightFrame* a, int N);
void serialize(class BinaryOutput& b) const;
void deserialize(class BinaryInput& b);
};
/** Shortest-path linear velocity spline for camera positions. Always keeps the camera from rolling.
@sa G3D::UprightSplineManipulator, G3D::UprightFrame
*/
class UprightSpline : public Spline<UprightFrame> {
protected:
virtual void ensureShortestPath(UprightFrame* A, int N) const {
UprightFrame::unwrapYaw(A, N);
}
public:
void serialize(class BinaryOutput& b) const;
void deserialize(class BinaryInput& b);
};
}
#endif
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