Unity左手坐标系计算View视图矩阵

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已于 2024-07-25 19:10:17 修改

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分类专栏：图形学文章标签： unity 矩阵算法图形渲染

于 2024-07-25 19:06:42 首次发布

本文链接：https://blog.csdn.net/wenwang88/article/details/140697633

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inline glm::mat4 CalcViewMatrix(const PoseData &poseData){

    glm::mat4 matrix_t = glm::transpose(glm::mat4{
            1.0f, 0.0f, 0.0f, -poseData.head_pose.tx,
            0.0f, 1.0f, 0.0f, -poseData.head_pose.ty,
            0.0f, 0.0f, 1.0f, -poseData.head_pose.tz,
            0.0f, 0.0f, 0.0f,           1.0f,
    });

    float x = poseData.head_pose.rx;
    float y = poseData.head_pose.ry;
    float z = poseData.head_pose.rz;
    float w = poseData.head_pose.rw;
    glm::mat4 matrix_r_q = glm::transpose(glm::mat4{
            1.0f - 2.0f*y*y - 2.0f*z*z,        2.0f*x*y + 2.0f*w*z,        2.0f*x*z - 2.0f*w*y, 0.0f,
            2.0f*x*y - 2.0f*w*z, 1.0f - 2.0f*x*x - 2.0f*z*z,        2.0f*y*z + 2.0f*w*x, 0.0f,
            2.0f*x*z + 2.0f*w*y,         2.0f*y*z -2.0f*w*x, 1.0f - 2.0f*x*x - 2.0f*y*y, 0.0f,
            0.0f,                       0.0f,                       0.0f, 1.0f,
    });
    glm::mat4 matrix_ltr = glm::transpose(glm::mat4{
            1.0f, 0.0f,  0.0f, 0.0f,
            0.0f, 1.0f,  0.0f, 0.0f,
            0.0f, 0.0f, -1.0f, 0.0f,
            0.0f, 0.0f,  0.0f, 1.0f,
    });
    glm::mat4 worldToCamera = matrix_ltr * matrix_r_q * matrix_t;
    //PrintMatrix("CalcViewMatrix matrix_t", matrix_t);
    //PrintMatrix("CalcViewMatrix matrix_r_q", matrix_r_q);
    //PrintMatrix("CalcViewMatrix worldToCamera", worldToCamera);

    return worldToCamera;
}