一、摄像机四要素
摄像机位置
摄像机位置简单来说就是世界空间中一个指向摄像机位置的向量。
glm::vec3 cameraPos = glm::vec3(0.0f, 0.0f, 3.0f);
2.摄像机方向
由于规定了摄像机观察方向为-Z轴,因为方向向量(Direction Vector)为+Z轴。因此摄像机的位置减观察位置,即可算出方向向量。
glm::vec3 cameraTarget = glm::vec3(0.0f, 0.0f, 0.0f);
glm::vec3 cameraDirection = glm::normalize(cameraPos - cameraTarget);
3. 右轴
右轴即为右向量(Right Vector),它代表摄像机空间的x轴的正方向。为了得到右向量,首先定义了一个上向量(Up Vector)。叉乘摄像机方向与上向量,得到垂直与两轴的右向量。叉乘顺序由右手定则得到。
定义了 上向量(Up Vector),其实就相当于默认上轴、上向量与摄像机方向处于同一平面。在欧拉角中,相当于没有roll操作。
glm::vec3 up = glm::vec3(0.0f, 1.0f, 0.0f);
glm::vec3 cameraRight = glm::normalize(glm::cross(up, cameraDirection));
4. 上轴
现在我们已经有了x轴向量和z轴向量,获取一个指向摄像机的正y轴向量就相对简单了:我们把右向量和方向向量进行叉乘:
glm::vec3 cameraUp = glm::cross(cameraDirection, cameraRight);
二、Look At
现在我们已有了摄像机的位置,三个轴向量。为了得到观测变换矩阵,其实使用一种逆向思维的方式:我们可以把摄像机的平移到世界原点,并将其坐标轴旋转至与世界空间的坐标轴重合。此方法得到的变换矩阵,同时应用到世界空间上的其他物体上,即可得到等同于观测变换的效果。
幸运的是,GLM已经提供了这些支持。我们要做的只是定义一个摄像机位置,一个目标位置和一个表示世界空间中的上向量的向量(我们计算右向量使用的那个上向量)。接着GLM就会创建一个LookAt矩阵,我们可以把它当作我们的观察矩阵:
glm::mat4 view;
view = glm::lookAt(glm::vec3(0.0f, 0.0f, 3.0f),
glm::vec3(0.0f, 0.0f, 0.0f),
glm::vec3(0.0f, 1.0f, 0.0f));
glm::LookAt函数需要一个位置、目标和上向量。它会创建一个和在上一节使用的一样的观察矩阵。
自己实现lookat矩阵,需要注意GLM中的矩阵是列优先的。
// Custom implementation of the LookAt function
glm::mat4 calculate_lookAt_matrix(glm::vec3 position, glm::vec3 target, glm::vec3 worldUp)
{
// 1. Position = known
// 2. Calculate cameraDirection
glm::vec3 zaxis = glm::normalize(position - target);
// 3. Get positive right axis vector
glm::vec3 xaxis = glm::normalize(glm::cross(glm::normalize(worldUp), zaxis));
// 4. Calculate camera up vector
glm::vec3 yaxis = glm::cross(zaxis, xaxis);
// Create translation and rotation matrix
// In glm we access elements as mat[col][row] due to column-major layout
glm::mat4 translation = glm::mat4(1.0f); // Identity matrix by default
translation[3][0] = -position.x; // Third column, first row
translation[3][1] = -position.y;
translation[3][2] = -position.z;
glm::mat4 rotation = glm::mat4(1.0f);
rotation[0][0] = xaxis.x; // First column, first row
rotation[1][0] = xaxis.y;
rotation[2][0] = xaxis.z;
rotation[0][1] = yaxis.x; // First column, second row
rotation[1][1] = yaxis.y;
rotation[2][1] = yaxis.z;
rotation[0][2] = zaxis.x; // First column, third row
rotation[1][2] = zaxis.y;
rotation[2][2] = zaxis.z;
// Return lookAt matrix as combination of translation and rotation matrix
return rotation * translation; // Remember to read from right to left (first translation then rotation)
}
// Don't forget to replace glm::lookAt with your own version
// view = glm::lookAt(glm::vec3(camX, 0.0f, camZ), glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3(0.0f, 1.0f, 0.0f));
view = calculate_lookAt_matrix(glm::vec3(camX, 0.0f, camZ), glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3(0.0f, 1.0f, 0.0f));
三、摄像机类
该摄像机系统是一个FPS风格的摄像机,它能够满足大多数情况需要,而且与欧拉角兼容,但是在创建不同的摄像机系统,比如飞行模拟摄像机,时就要当心。每个摄像机系统都有自己的优点和不足,所以确保对它们进行了详细研究。比如,这个FPS摄像机不允许俯仰角大于90度,而且我们使用了一个固定的上向量(0, 1, 0),这在需要考虑滚转角的时候就不能用了。
#ifndef CAMERA_H
#define CAMERA_H
#include <glad/glad.h>
#include <glm/glm.hpp>
#include <glm/gtc/matrix_transform.hpp>
#include <vector>
// Defines several possible options for camera movement. Used as abstraction to stay away from window-system specific input methods
enum Camera_Movement {
FORWARD,
BACKWARD,
LEFT,
RIGHT
};
// Default camera values
const float YAW = -90.0f;
const float PITCH = 0.0f;
const float SPEED = 2.5f;
const float SENSITIVITY = 0.1f;
const float ZOOM = 45.0f;
// An abstract camera class that processes input and calculates the corresponding Euler Angles, Vectors and Matrices for use in OpenGL
class Camera
{
public:
// camera Attributes
glm::vec3 Position;
glm::vec3 Front;
glm::vec3 Up;
glm::vec3 Right;
glm::vec3 WorldUp;
// euler Angles
float Yaw;
float Pitch;
// camera options
float MovementSpeed;
float MouseSensitivity;
float Zoom;
// constructor with vectors
Camera(glm::vec3 position = glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3 up = glm::vec3(0.0f, 1.0f, 0.0f), float yaw = YAW, float pitch = PITCH) : Front(glm::vec3(0.0f, 0.0f, -1.0f)), MovementSpeed(SPEED), MouseSensitivity(SENSITIVITY), Zoom(ZOOM)
{
Position = position;
WorldUp = up;
Yaw = yaw;
Pitch = pitch;
updateCameraVectors();
}
// constructor with scalar values
Camera(float posX, float posY, float posZ, float upX, float upY, float upZ, float yaw, float pitch) : Front(glm::vec3(0.0f, 0.0f, -1.0f)), MovementSpeed(SPEED), MouseSensitivity(SENSITIVITY), Zoom(ZOOM)
{
Position = glm::vec3(posX, posY, posZ);
WorldUp = glm::vec3(upX, upY, upZ);
Yaw = yaw;
Pitch = pitch;
updateCameraVectors();
}
// returns the view matrix calculated using Euler Angles and the LookAt Matrix
glm::mat4 GetViewMatrix()
{
return glm::lookAt(Position, Position + Front, Up);
}
// processes input received from any keyboard-like input system. Accepts input parameter in the form of camera defined ENUM (to abstract it from windowing systems)
void ProcessKeyboard(Camera_Movement direction, float deltaTime)
{
float velocity = MovementSpeed * deltaTime;
if (direction == FORWARD)
Position += Front * velocity;
if (direction == BACKWARD)
Position -= Front * velocity;
if (direction == LEFT)
Position -= Right * velocity;
if (direction == RIGHT)
Position += Right * velocity;
}
// processes input received from a mouse input system. Expects the offset value in both the x and y direction.
void ProcessMouseMovement(float xoffset, float yoffset, GLboolean constrainPitch = true)
{
xoffset *= MouseSensitivity;
yoffset *= MouseSensitivity;
Yaw += xoffset;
Pitch += yoffset;
// make sure that when pitch is out of bounds, screen doesn't get flipped
if (constrainPitch)
{
if (Pitch > 89.0f)
Pitch = 89.0f;
if (Pitch < -89.0f)
Pitch = -89.0f;
}
// update Front, Right and Up Vectors using the updated Euler angles
updateCameraVectors();
}
// processes input received from a mouse scroll-wheel event. Only requires input on the vertical wheel-axis
void ProcessMouseScroll(float yoffset)
{
Zoom -= (float)yoffset;
if (Zoom < 1.0f)
Zoom = 1.0f;
if (Zoom > 45.0f)
Zoom = 45.0f;
}
private:
// calculates the front vector from the Camera's (updated) Euler Angles
void updateCameraVectors()
{
// calculate the new Front vector
glm::vec3 front;
front.x = cos(glm::radians(Yaw)) * cos(glm::radians(Pitch));
front.y = sin(glm::radians(Pitch));
front.z = sin(glm::radians(Yaw)) * cos(glm::radians(Pitch));
Front = glm::normalize(front);
// also re-calculate the Right and Up vector
Right = glm::normalize(glm::cross(Front, WorldUp)); // normalize the vectors, because their length gets closer to 0 the more you look up or down which results in slower movement.
Up = glm::normalize(glm::cross(Right, Front));
}
};
#endif