OpenGL学习笔记（八）坐标与摄像（Coordinate Systems and Camera）

坐标及表示

model：世界坐标，包括对物体的平移和选择
view：摄像机位置矩阵
projection:投影方法，正视投影和透视投影
顶点着色器中：

gl_Position = projection * view * model * vec4(aPos, 1.0);

摄像机

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);

摄像机方向：用场景原点向量减去摄像机位置向量的结果就是摄像机的指向向量：

glm::vec3 cameraTarget = glm::vec3(0.0f, 0.0f, 0.0f);
glm::vec3 cameraDirection = glm::normalize(cameraPos - cameraTarget);

右轴：右向量(Right Vector)代表摄像机空间的x轴的正方向。为获取右向量我们需要先使用一个小技巧：先定义一个上向量(Up Vector)。接下来把上向量和第二步得到的方向向量进行叉乘。两个向量叉乘的结果会同时垂直于两向量，因此我们会得到指向x轴正方向的那个向量：

glm::vec3 up = glm::vec3(0.0f, 1.0f, 0.0f); 
glm::vec3 cameraRight = glm::normalize(glm::cross(up, cameraDirection));

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);

Look At矩阵
    使用矩阵的好处之一是如果你使用3个相互垂直（或非线性）的轴定义了一个坐标空间，你可以用这3个轴外加一个平移向量来创建一个矩阵，并且你可以用这个矩阵乘以任何向量来将其变换到那个坐标空间。这正是LookAt矩阵所做的：

其中R是右向量，U是上向量，D是方向向量P是摄像机位置向量。
    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));

欧拉角

    欧拉角(Euler Angle)是可以表示3D空间中任何旋转的3个值，共有3种欧拉角：俯仰角(Pitch)、偏航角(Yaw)和滚转角(Roll)，下面的图片展示了它们的含义：

    俯仰角是描述我们如何往上或往下看的角，可以在第一张图中看到。第二张图展示了偏航角，偏航角表示我们往左和往右看的程度。滚转角代表我们如何翻滚摄像机。
基于俯仰角和偏航角的方向向量：

float radius = 10.0f; float camX = sin(glfwGetTime()) * radius; float camZ = cos(glfwGetTime()) * radius; glm::mat4 view; view = glm::lookAt(glm::vec3(camX, 0.0, camZ), glm::vec3(0.0, 0.0, 0.0), glm::vec3(0.0, 1.0, 0.0));

鼠标输入

    偏航角和俯仰角是通过鼠标（或手柄）移动获得的，水平的移动影响偏航角，竖直的移动影响俯仰角。它的原理就是，储存上一帧鼠标的位置，在当前帧中我们当前计算鼠标位置与上一帧的位置相差多少。如果水平/竖直差别越大那么俯仰角或偏航角就改变越大，也就是摄像机需要移动更多的距离。
①隐藏光标并捕捉它：

glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_DISABLED);

    在调用这个函数之后，无论我们怎么去移动鼠标，光标都不会显示了，它也不会离开窗口。对于FPS摄像机系统来说非常完美。
②为了计算俯仰角和偏航角，我们需要让GLFW监听鼠标移动事件。（和键盘输入相似）我们会用一个回调函数来完成，函数的原型如下：

void mouse_callback(GLFWwindow* window, double xpos, double ypos);

    这里的xpos和ypos代表当前鼠标的位置。当我们用GLFW注册了回调函数之后，鼠标一移动mouse_callback函数就会被调用：

glfwSetCursorPosCallback(window, mouse_callback);

    在处理FPS风格摄像机的鼠标输入的时候，我们必须在最终获取方向向量之前做下面这几步：
1.计算鼠标距上一帧的偏移量。
2.把偏移量添加到摄像机的俯仰角和偏航角中。
3.对偏航角和俯仰角进行最大和最小值的限制。
4.计算方向向量。
第一步是计算鼠标自上一帧的偏移量。我们必须先在程序中储存上一帧的鼠标位置，我们把它的初始值设置为屏幕的中心（屏幕的尺寸是800x600）：

float lastX = 400, lastY = 300;

第二步在鼠标的回调函数中我们计算当前帧和上一帧鼠标位置的偏移量：

float xoffset = xpos - lastX;
float yoffset = lastY - ypos; // 注意这里是相反的，因为y坐标是从底部往顶部依次增大的
lastX = xpos;
lastY = ypos;

float sensitivity = 0.05f;
xoffset *= sensitivity;
yoffset *= sensitivity;

    注意我们把偏移量乘以了sensitivity（灵敏度）值。如果我们忽略这个值，鼠标移动就会太大了，接下来我们把偏移量加到全局变量pitch和yaw上：

yaw   += xoffset;
pitch += yoffset;

第三步，我们需要给摄像机添加一些限制，这样摄像机就不会发生奇怪的移动了（这样也会避免一些奇怪的问题）。对于俯仰角，要让用户不能看向高于89度的地方（在90度时视角会发生逆转，所以我们把89度作为极限），同样也不允许小于-89度。这样能够保证用户只能看到天空或脚下，但是不能超越这个限制。我们可以在值超过限制的时候将其改为极限值来实现：

if(pitch > 89.0f)
  pitch =  89.0f;
if(pitch < -89.0f)
  pitch = -89.0f;

第四也是最后一步，就是通过俯仰角和偏航角来计算以得到真正的方向向量：

glm::vec3 front;
front.x = cos(glm::radians(pitch)) * cos(glm::radians(yaw));
front.y = sin(glm::radians(pitch));
front.z = cos(glm::radians(pitch)) * sin(glm::radians(yaw));
cameraFront = glm::normalize(front);

缩放

与鼠标移动、键盘输入一样，我们需要一个鼠标滚轮的回调函数：

void scroll_callback(GLFWwindow* window, double xoffset, double yoffset)
{
  if(fov >= 1.0f && fov <= 45.0f)
    fov -= yoffset;
  if(fov <= 1.0f)
    fov = 1.0f;
  if(fov >= 45.0f)
    fov = 45.0f;
}

    当滚动鼠标滚轮的时候，yoffset值代表我们竖直滚动的大小。当scroll_callback函数被调用后，我们改变全局变量fov变量的内容。因为45.0f是默认的视野值，我们将会把缩放级别(Zoom Level)限制在1.0f到45.0f。
    我们现在在每一帧都必须把透视投影矩阵上传到GPU，但现在使用fov变量作为它的视野：

projection = glm::perspective(glm::radians(fov), 800.0f / 600.0f, 0.1f, 100.0f);

最后不要忘记注册鼠标滚轮的回调函数：

glfwSetScrollCallback(window, scroll_callback);

实现效果

完整代码

主函数main.cpp：

#include <glad/glad.h>
#include <GLFW/glfw3.h>
#include <stb_image.h>

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

#include <learnopengl/shader_s.h>

#include <iostream>

void framebuffer_size_callback(GLFWwindow* window, int width, int height);
void mouse_callback(GLFWwindow* window, double xpos, double ypos);
void scroll_callback(GLFWwindow* window, double xoffset, double yoffset);
void processInput(GLFWwindow *window);

// settings
const unsigned int SCR_WIDTH = 800;
const unsigned int SCR_HEIGHT = 600;

glm::vec3 cameraPos = glm::vec3(0.0f, 0.0f, 3.0f);
glm::vec3 cameraFront = glm::vec3(0.0f, 0.0f, -1.0f);
glm::vec3 cameraUp = glm::vec3(0.0f, 1.0f, 0.0f);

bool firstMouse = true;
float yaw = -90.0f;	// yaw is initialized to -90.0 degrees since a yaw of 0.0 results in a direction vector pointing to the right so we initially rotate a bit to the left.
float pitch = 0.0f;
float lastX = 800.0f / 2.0;
float lastY = 600.0 / 2.0;
float fov = 45.0f;

// timing
float deltaTime = 0.0f;	// time between current frame and last frame
float lastFrame = 0.0f;

int main()
{
	// glfw: initialize and configure
	// ------------------------------
	glfwInit();
	glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
	glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
	glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);

														 // glfw window creation
														 // --------------------
	GLFWwindow* window = glfwCreateWindow(SCR_WIDTH, SCR_HEIGHT, "LearnOpenGL", NULL, NULL);
	if (window == NULL)
	{
		std::cout << "Failed to create GLFW window" << std::endl;
		glfwTerminate();
		return -1;
	}

	glfwMakeContextCurrent(window);
	glfwSetFramebufferSizeCallback(window, framebuffer_size_callback);
	//glfwSetCursorPosCallback(window, mouse_callback);
	//glfwSetScrollCallback(window, scroll_callback);

	// tell GLFW to capture our mouse
	//glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_DISABLED);

	// glad: load all OpenGL function pointers
	// ---------------------------------------
	if (!gladLoadGLLoader((GLADloadproc)glfwGetProcAddress))
	{
		std::cout << "Failed to initialize GLAD" << std::endl;
		return -1;
	}

	// configure global opengl state
	// -----------------------------
	

	// build and compile our shader zprogram
	// ------------------------------------
	Shader ourShader("6.3.coordinate_systems.vs", "6.3.coordinate_systems.fs");
	Shader backgroundShader("6.3.coordinate_systems_back.vs", "6.3.coordinate_systems_back.fs");

	// set up vertex data (and buffer(s)) and configure vertex attributes
	// ------------------------------------------------------------------
	float vertices[] = {
		-0.5f, -0.5f, -0.5f,  0.0f, 0.0f,
		0.5f, -0.5f, -0.5f,  1.0f, 0.0f,
		0.5f,  0.5f, -0.5f,  1.0f, 1.0f,
		0.5f,  0.5f, -0.5f,  1.0f, 1.0f,
		-0.5f,  0.5f, -0.5f,  0.0f, 1.0f,
		-0.5f, -0.5f, -0.5f,  0.0f, 0.0f,

		-0.5f, -0.5f,  0.5f,  0.0f, 0.0f,
		0.5f, -0.5f,  0.5f,  1.0f, 0.0f,
		0.5f,  0.5f,  0.5f,  1.0f, 1.0f,
		0.5f,  0.5f,  0.5f,  1.0f, 1.0f,
		-0.5f,  0.5f,  0.5f,  0.0f, 1.0f,
		-0.5f, -0.5f,  0.5f,  0.0f, 0.0f,

		-0.5f,  0.5f,  0.5f,  1.0f, 0.0f,
		-0.5f,  0.5f, -0.5f,  1.0f, 1.0f,
		-0.5f, -0.5f, -0.5f,  0.0f, 1.0f,
		-0.5f, -0.5f, -0.5f,  0.0f, 1.0f,
		-0.5f, -0.5f,  0.5f,  0.0f, 0.0f,
		-0.5f,  0.5f,  0.5f,  1.0f, 0.0f,

		0.5f,  0.5f,  0.5f,  1.0f, 0.0f,
		0.5f,  0.5f, -0.5f,  1.0f, 1.0f,
		0.5f, -0.5f, -0.5f,  0.0f, 1.0f,
		0.5f, -0.5f, -0.5f,  0.0f, 1.0f,
		0.5f, -0.5f,  0.5f,  0.0f, 0.0f,
		0.5f,  0.5f,  0.5f,  1.0f, 0.0f,

		-0.5f, -0.5f, -0.5f,  0.0f, 1.0f,
		0.5f, -0.5f, -0.5f,  1.0f, 1.0f,
		0.5f, -0.5f,  0.5f,  1.0f, 0.0f,
		0.5f, -0.5f,  0.5f,  1.0f, 0.0f,
		-0.5f, -0.5f,  0.5f,  0.0f, 0.0f,
		-0.5f, -0.5f, -0.5f,  0.0f, 1.0f,

		-0.5f,  0.5f, -0.5f,  0.0f, 1.0f,
		0.5f,  0.5f, -0.5f,  1.0f, 1.0f,
		0.5f,  0.5f,  0.5f,  1.0f, 0.0f,
		0.5f,  0.5f,  0.5f,  1.0f, 0.0f,
		-0.5f,  0.5f,  0.5f,  0.0f, 0.0f,
		-0.5f,  0.5f, -0.5f,  0.0f, 1.0f
	};
	// world space positions of our cubes
	glm::vec3 cubePositions[] = {
		glm::vec3(0.0f,  -1.5f,  -10.0f),
		glm::vec3(2.0f,  5.0f, -15.0f),
		glm::vec3(-1.5f, -2.2f, -2.5f),
		glm::vec3(-3.8f, -2.0f, -12.3f),
		glm::vec3(2.4f, -0.4f, -3.5f),
		glm::vec3(-1.7f,  3.0f, -7.5f),
		glm::vec3(1.3f, -2.0f, -2.5f),
		glm::vec3(1.5f,  2.0f, -2.5f),
		glm::vec3(1.5f,  0.2f, -1.5f),
		glm::vec3(-1.3f,  1.0f, -1.5f),

		glm::vec3(-1.3f,  4.5f, -4.5f),
		glm::vec3(1.9f, -2.7f, -12.5f),
		glm::vec3(-1.5f,  -2.8f, -2.5f),
		glm::vec3(1.8f,  -1.2f, -8.5f),
		glm::vec3(-1.6f,  1.0f, -7.5f),
		glm::vec3(-0.5f,  0.0f, -0.5f)
	};
	float back[] = {
		// positions       // texture coords
		1.0f,  1.0f, 0.0f,  1.0f, 1.0f, // top right
		1.0f, -1.0f, 0.0f,  1.0f, 0.0f, // bottom right
		-1.0f, -1.0f, 0.0f,  0.0f, 0.0f, // bottom left
		-1.0f,  1.0f, 0.0f,  0.0f, 1.0f  // top left 
	};
	unsigned int back_indices[] = {
		0, 1, 3, // first triangle
		1, 2, 3  // second triangle
	};

	unsigned int VBO, VAO;
	glGenVertexArrays(1, &VAO);
	glGenBuffers(1, &VBO);

	glBindVertexArray(VAO);

	glBindBuffer(GL_ARRAY_BUFFER, VBO);
	glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);

	// position attribute
	glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 5 * sizeof(float), (void*)0);
	glEnableVertexAttribArray(0);
	// texture coord attribute
	glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, 5 * sizeof(float), (void*)(3 * sizeof(float)));
	glEnableVertexAttribArray(1);

	// load and create a texture 
	// -------------------------
	unsigned int texture1;
	// texture 1
	// ---------
	glGenTextures(1, &texture1);
	glBindTexture(GL_TEXTURE_2D, texture1);
	// set the texture wrapping parameters
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
	// set texture filtering parameters
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
	// load image, create texture and generate mipmaps
	int width, height, nrChannels;
	//stbi_set_flip_vertically_on_load(true); // tell stb_image.h to flip loaded texture's on the y-axis.
	unsigned char *data = stbi_load("D:/OpenGL_TEST/peizhi/peizhi/tianshi.jpeg", &width, &height, &nrChannels, 0);
	if (data)
	{
		glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_RGB, GL_UNSIGNED_BYTE, data);
		glGenerateMipmap(GL_TEXTURE_2D);
	}
	else
	{
		std::cout << "Failed to load texture" << std::endl;
	}
	stbi_image_free(data);

	ourShader.use();
	ourShader.setInt("texture1", 0);
	//ourShader.setInt("texture2", 1);


	unsigned int BACK_VAO, BACK_VBO,BACK_EBO;
	glGenVertexArrays(1, &BACK_VAO);
	glGenBuffers(1, &BACK_VBO);
	glGenBuffers(1, &BACK_EBO);

	glBindVertexArray(BACK_VAO);

	glBindBuffer(GL_ARRAY_BUFFER, BACK_VBO);
	glBufferData(GL_ARRAY_BUFFER, sizeof(back), back, GL_STATIC_DRAW);

	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, BACK_EBO);
	glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(back_indices), back_indices, GL_STATIC_DRAW);
	
	// position attribute
	glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 5 * sizeof(float), (void*)0);
	glEnableVertexAttribArray(0);
	// texture coord attribute
	glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, 5 * sizeof(float), (void*)(3 * sizeof(float)));
	glEnableVertexAttribArray(1);
	
	unsigned int back_texture;
	glGenTextures(1, &back_texture);
	glBindTexture(GL_TEXTURE_2D, back_texture); // all upcoming GL_TEXTURE_2D operations now have effect on this texture object
										   // set the texture wrapping parameters
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);	// set texture wrapping to GL_REPEAT (default wrapping method)
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
	// set texture filtering parameters
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
	// load image, create texture and generate mipmaps
	//int width, height, nrChannels;
	// The FileSystem::getPath(...) is part of the GitHub repository so we can find files on any IDE/platform; replace it with your own image path.
	stbi_set_flip_vertically_on_load(true);
	data = stbi_load("D:/OpenGL_TEST/peizhi/peizhi/dekesasi.jpeg", &width, &height, &nrChannels, 0);
	if (data)
	{
		glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_RGB, GL_UNSIGNED_BYTE, data);
		glGenerateMipmap(GL_TEXTURE_2D);
	}
	else
	{
		std::cout << "Failed to load texture" << std::endl;
	}
	stbi_image_free(data);

	backgroundShader.use();
	backgroundShader.setInt("texture", 0);

	// render loop
	// -----------
	while (!glfwWindowShouldClose(window))
	{
		
		float currentFrame = glfwGetTime();
		deltaTime = currentFrame - lastFrame;
		lastFrame = currentFrame;

		// input
		// -----
		processInput(window);

		// render
		// ------
		glClearColor(0.2f, 0.3f, 0.3f, 1.0f);
		glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // also clear the depth buffer now!

		//非常重要，否则立方体将会被平面覆盖													// bind textures on corresponding texture units
		glDisable(GL_DEPTH_TEST);

		glActiveTexture(GL_TEXTURE0);
		glBindTexture(GL_TEXTURE_2D, back_texture);
		backgroundShader.use();
		glBindVertexArray(BACK_VAO);
		glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, 0);

		// glfw: swap buffers and poll IO events (keys pressed/released, mouse moved etc.)
		// -------------------------------------------------------------------------------

		
		
		glActiveTexture(GL_TEXTURE0);
		glBindTexture(GL_TEXTURE_2D, texture1);
		//glActiveTexture(GL_TEXTURE1);
		//glBindTexture(GL_TEXTURE_2D, texture2);

		// activate shader
		ourShader.use();

		// pass projection matrix to shader (note that in this case it could change every frame)
		glm::mat4 projection = glm::perspective(glm::radians(fov), (float)SCR_WIDTH / (float)SCR_HEIGHT, 0.1f, 100.0f);
		ourShader.setMat4("projection", projection);

		// camera/view transformation
		glm::mat4 view = glm::lookAt(cameraPos, cameraPos + cameraFront, cameraUp);
		ourShader.setMat4("view", view);

		float timeValue = glfwGetTime();
		
		// render boxes
		glEnable(GL_DEPTH_TEST);
		glBindVertexArray(VAO);
		for (unsigned int i = 0; i < 16; i++)
		{
			
			// calculate the model matrix for each object and pass it to shader before drawing
			glm::mat4 model = glm::mat4(1.0f);
			//model先平移再旋转
			model = glm::translate(model, cubePositions[i]);
			float angle = 0.2f * (i+1) *sin(timeValue);
			model = glm::rotate(model, angle, glm::vec3(1.0f, 0.3f, 0.5f));
			ourShader.setMat4("model", model);

			glDrawArrays(GL_TRIANGLES, 0, 36);

		}
		//如果有多个着色器，必须放在最后
		glfwSwapBuffers(window);
		glfwPollEvents();
	}

	// optional: de-allocate all resources once they've outlived their purpose:
	// ------------------------------------------------------------------------
	glDeleteVertexArrays(1, &VAO);
	glDeleteBuffers(1, &VBO);
	glDeleteVertexArrays(1, &BACK_VAO);
	glDeleteBuffers(1, &BACK_VBO);
	glDeleteBuffers(1, &BACK_EBO);
	// glfw: terminate, clearing all previously allocated GLFW resources.
	// ------------------------------------------------------------------
	glfwTerminate();
	return 0;
}

// process all input: query GLFW whether relevant keys are pressed/released this frame and react accordingly
// ---------------------------------------------------------------------------------------------------------
void processInput(GLFWwindow *window)
{
	if (glfwGetKey(window, GLFW_KEY_ESCAPE) == GLFW_PRESS)
		glfwSetWindowShouldClose(window, true);
	float cameraSpeed = 2.5 * deltaTime;
	if (glfwGetKey(window, GLFW_KEY_W) == GLFW_PRESS)
		cameraPos += cameraSpeed * cameraFront;
	if (glfwGetKey(window, GLFW_KEY_S) == GLFW_PRESS)
		cameraPos -= cameraSpeed * cameraFront;
	if (glfwGetKey(window, GLFW_KEY_A) == GLFW_PRESS)
		cameraPos -= glm::normalize(glm::cross(cameraFront, cameraUp)) * cameraSpeed;
	if (glfwGetKey(window, GLFW_KEY_D) == GLFW_PRESS)
		cameraPos += glm::normalize(glm::cross(cameraFront, cameraUp)) * cameraSpeed;

}

// glfw: whenever the window size changed (by OS or user resize) this callback function executes
// ---------------------------------------------------------------------------------------------
void framebuffer_size_callback(GLFWwindow* window, int width, int height)
{
	// make sure the viewport matches the new window dimensions; note that width and 
	// height will be significantly larger than specified on retina displays.
	glViewport(0, 0, width, height);
}

// glfw: whenever the mouse moves, this callback is called
// -------------------------------------------------------
void mouse_callback(GLFWwindow* window, double xpos, double ypos)
{
	if (firstMouse)
	{
		lastX = xpos;
		lastY = ypos;
		firstMouse = false;
	}

	float xoffset = xpos - lastX;
	float yoffset = lastY - ypos; // reversed since y-coordinates go from bottom to top
	lastX = xpos;
	lastY = ypos;

	float sensitivity = 0.1f; // change this value to your liking
	xoffset *= sensitivity;
	yoffset *= sensitivity;

	yaw += xoffset;
	pitch += yoffset;

	// make sure that when pitch is out of bounds, screen doesn't get flipped
	if (pitch > 89.0f)
		pitch = 89.0f;
	if (pitch < -89.0f)
		pitch = -89.0f;

	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));
	cameraFront = glm::normalize(front);
}

// glfw: whenever the mouse scroll wheel scrolls, this callback is called
// ----------------------------------------------------------------------
void scroll_callback(GLFWwindow* window, double xoffset, double yoffset)
{
	if (fov >= 1.0f && fov <= 45.0f)
		fov -= yoffset;
	if (fov <= 1.0f)
		fov = 1.0f;
	if (fov >= 45.0f)
		fov = 45.0f;
}

顶点着色器6.3.coordinate_systems.vs：

#version 330 core
layout (location = 0) in vec3 aPos;
layout (location = 1) in vec2 aTexCoord;

out vec2 TexCoord;

uniform mat4 model;
uniform mat4 view;
uniform mat4 projection;

void main()
{
    gl_Position = projection * view * model * vec4(aPos, 1.0f);
    TexCoord = vec2(aTexCoord.x, 1.0 - aTexCoord.y);
}

片元着色器6.3.coordinate_systems.fs：

#version 330 core
out vec4 FragColor;

in vec2 TexCoord;

uniform sampler2D texture1;


void main()
{
    FragColor = texture(texture1, TexCoord);
}

顶点着色器6.3.coordinate_systems_back.vs：

#version 330 core
layout (location = 0) in vec3 aPos;
layout (location = 1) in vec2 aTexCoord;

out vec2 TexCoord;


void main()
{
	gl_Position = vec4(aPos, 1.0);
	TexCoord = vec2(aTexCoord.x, aTexCoord.y);
}

片元着色器6.3.coordinate_systems_back.fs：

#version 330 core
out vec4 FragColor;

in vec2 TexCoord;

// texture sampler
uniform sampler2D texture;

void main()
{
	FragColor = texture(texture, TexCoord);
}

头文件shader_s.h:

#ifndef SHADER_H
#define SHADER_H

#include <glad/glad.h>
#include <glm/glm.hpp>

#include <string>
#include <fstream>
#include <sstream>
#include <iostream>

class Shader
{
public:
	unsigned int ID;
	// constructor generates the shader on the fly
	// ------------------------------------------------------------------------
	Shader(const char* vertexPath, const char* fragmentPath, const char* geometryPath = nullptr)
	{
		// 1. retrieve the vertex/fragment source code from filePath
		std::string vertexCode;
		std::string fragmentCode;
		std::string geometryCode;
		std::ifstream vShaderFile;
		std::ifstream fShaderFile;
		std::ifstream gShaderFile;
		// ensure ifstream objects can throw exceptions:
		vShaderFile.exceptions(std::ifstream::failbit | std::ifstream::badbit);
		fShaderFile.exceptions(std::ifstream::failbit | std::ifstream::badbit);
		gShaderFile.exceptions(std::ifstream::failbit | std::ifstream::badbit);
		try
		{
			// open files
			vShaderFile.open(vertexPath);
			fShaderFile.open(fragmentPath);
			std::stringstream vShaderStream, fShaderStream;
			// read file's buffer contents into streams
			vShaderStream << vShaderFile.rdbuf();
			fShaderStream << fShaderFile.rdbuf();
			// close file handlers
			vShaderFile.close();
			fShaderFile.close();
			// convert stream into string
			vertexCode = vShaderStream.str();
			fragmentCode = fShaderStream.str();
			// if geometry shader path is present, also load a geometry shader
			if (geometryPath != nullptr)
			{
				gShaderFile.open(geometryPath);
				std::stringstream gShaderStream;
				gShaderStream << gShaderFile.rdbuf();
				gShaderFile.close();
				geometryCode = gShaderStream.str();
			}
		}
		catch (std::ifstream::failure e)
		{
			std::cout << "ERROR::SHADER::FILE_NOT_SUCCESFULLY_READ" << std::endl;
		}
		const char* vShaderCode = vertexCode.c_str();
		const char * fShaderCode = fragmentCode.c_str();
		// 2. compile shaders
		unsigned int vertex, fragment;
		// vertex shader
		vertex = glCreateShader(GL_VERTEX_SHADER);
		glShaderSource(vertex, 1, &vShaderCode, NULL);
		glCompileShader(vertex);
		checkCompileErrors(vertex, "VERTEX");
		// fragment Shader
		fragment = glCreateShader(GL_FRAGMENT_SHADER);
		glShaderSource(fragment, 1, &fShaderCode, NULL);
		glCompileShader(fragment);
		checkCompileErrors(fragment, "FRAGMENT");
		// if geometry shader is given, compile geometry shader
		unsigned int geometry;
		if (geometryPath != nullptr)
		{
			const char * gShaderCode = geometryCode.c_str();
			geometry = glCreateShader(GL_GEOMETRY_SHADER);
			glShaderSource(geometry, 1, &gShaderCode, NULL);
			glCompileShader(geometry);
			checkCompileErrors(geometry, "GEOMETRY");
		}
		// shader Program
		ID = glCreateProgram();
		glAttachShader(ID, vertex);
		glAttachShader(ID, fragment);
		if (geometryPath != nullptr)
			glAttachShader(ID, geometry);
		glLinkProgram(ID);
		checkCompileErrors(ID, "PROGRAM");
		// delete the shaders as they're linked into our program now and no longer necessery
		glDeleteShader(vertex);
		glDeleteShader(fragment);
		if (geometryPath != nullptr)
			glDeleteShader(geometry);

	}
	// activate the shader
	// ------------------------------------------------------------------------
	void use()
	{
		glUseProgram(ID);
	}
	// utility uniform functions
	// ------------------------------------------------------------------------
	void setBool(const std::string &name, bool value) const
	{
		glUniform1i(glGetUniformLocation(ID, name.c_str()), (int)value);
	}
	// ------------------------------------------------------------------------
	void setInt(const std::string &name, int value) const
	{
		glUniform1i(glGetUniformLocation(ID, name.c_str()), value);
	}
	// ------------------------------------------------------------------------
	void setFloat(const std::string &name, float value) const
	{
		glUniform1f(glGetUniformLocation(ID, name.c_str()), value);
	}
	// ------------------------------------------------------------------------
	void setVec2(const std::string &name, const glm::vec2 &value) const
	{
		glUniform2fv(glGetUniformLocation(ID, name.c_str()), 1, &value[0]);
	}
	void setVec2(const std::string &name, float x, float y) const
	{
		glUniform2f(glGetUniformLocation(ID, name.c_str()), x, y);
	}
	// ------------------------------------------------------------------------
	void setVec3(const std::string &name, const glm::vec3 &value) const
	{
		glUniform3fv(glGetUniformLocation(ID, name.c_str()), 1, &value[0]);
	}
	void setVec3(const std::string &name, float x, float y, float z) const
	{
		glUniform3f(glGetUniformLocation(ID, name.c_str()), x, y, z);
	}
	// ------------------------------------------------------------------------
	void setVec4(const std::string &name, const glm::vec4 &value) const
	{
		glUniform4fv(glGetUniformLocation(ID, name.c_str()), 1, &value[0]);
	}
	void setVec4(const std::string &name, float x, float y, float z, float w)
	{
		glUniform4f(glGetUniformLocation(ID, name.c_str()), x, y, z, w);
	}
	// ------------------------------------------------------------------------
	void setMat2(const std::string &name, const glm::mat2 &mat) const
	{
		glUniformMatrix2fv(glGetUniformLocation(ID, name.c_str()), 1, GL_FALSE, &mat[0][0]);
	}
	// ------------------------------------------------------------------------
	void setMat3(const std::string &name, const glm::mat3 &mat) const
	{
		glUniformMatrix3fv(glGetUniformLocation(ID, name.c_str()), 1, GL_FALSE, &mat[0][0]);
	}
	// ------------------------------------------------------------------------
	void setMat4(const std::string &name, const glm::mat4 &mat) const
	{
		glUniformMatrix4fv(glGetUniformLocation(ID, name.c_str()), 1, GL_FALSE, &mat[0][0]);
	}

private:
	// utility function for checking shader compilation/linking errors.
	// ------------------------------------------------------------------------
	void checkCompileErrors(GLuint shader, std::string type)
	{
		GLint success;
		GLchar infoLog[1024];
		if (type != "PROGRAM")
		{
			glGetShaderiv(shader, GL_COMPILE_STATUS, &success);
			if (!success)
			{
				glGetShaderInfoLog(shader, 1024, NULL, infoLog);
				std::cout << "ERROR::SHADER_COMPILATION_ERROR of type: " << type << "\n" << infoLog << "\n -- --------------------------------------------------- -- " << std::endl;
			}
		}
		else
		{
			glGetProgramiv(shader, GL_LINK_STATUS, &success);
			if (!success)
			{
				glGetProgramInfoLog(shader, 1024, NULL, infoLog);
				std::cout << "ERROR::PROGRAM_LINKING_ERROR of type: " << type << "\n" << infoLog << "\n -- --------------------------------------------------- -- " << std::endl;
			}
		}
	}
};
#endif

参考链接

https://learnopengl-cn.github.io/01%20Getting%20started/09%20Camera/