OGL（教程7）——旋转变换

原文地址：http://ogldev.atspace.co.uk/www/tutorial07/tutorial07.html

背景知识：
接下来就是旋转变换，给定一个角度和一个点，我们想让这个点绕着某个轴旋转一定的角度。当我们绕着一个轴旋转的时候，比如绕z旋转，实际上是绕着xy平面旋转，绕x旋转则是绕着yz平面旋转，绕y轴旋则是绕xy屏幕旋转。还有更复杂的旋转，比如绕着任意一个向量旋转，本节不涉及。

下图展示旋转的情况：

我们想把(x1,y1)旋转到(x2,y2)。换句话说我们想把(x1,y1)旋转a2角度。我们假设圆的半径为1，如下所示：

我们三角函数的特性做一个转换：

上面的x2和y2可以写为：

上图中，z轴指向里面，我们把上面的等式改为矩阵形式：

如果你绕着其他轴旋转，可以适当变化下矩阵，我们之前介绍过，参考博客：
https://blog.csdn.net/wodownload2/article/details/72637897

代码：

// GLUT.cpp : 定义控制台应用程序的入口点。
//

#include "stdafx.h"
#include <stdio.h>
#include <glew.h>
#include <freeglut.h>
#include <assert.h>
#include <math.h>
#include "math_3d.h"

#pragma comment( lib, "glew32d.lib" )


GLuint VBO;
GLuint gWorldLocation;
static const char* pVS = " \n\
#version 330 \n\
\n\
layout (location = 0) in vec3 Position; \n\
\n\
uniform mat4 gWorld; \n\
\n\
void main() \n\
{ \n\
gl_Position = gWorld * vec4(Position, 1.0); \n\
}";
static const char* pFS = " \n\
#version 330 \n\
\n\
out vec4 FragColor; \n\
\n\
void main() \n\
{ \n\
FragColor = vec4(1.0, 0.0, 0.0, 1.0); \n\
}";
static void RenderSceneCB()
{
	glClear(GL_COLOR_BUFFER_BIT);
	static float Scale = 0.0f;
	Scale += 0.001f;
	Matrix4f World;
	World.m[0][0] = cosf(Scale); World.m[0][1] = -sinf(Scale); World.m[0][2] = 0.0f; World.m[0][3] = 0.0f;
	World.m[1][0] = sinf(Scale); World.m[1][1] = cosf(Scale); World.m[1][2] = 0.0f; World.m[1][3] = 0.0f;
	World.m[2][0] = 0.0f; World.m[2][1] = 0.0f; World.m[2][2] = 1.0f; World.m[2][3] = 0.0f;
	World.m[3][0] = 0.0f; World.m[3][1] = 0.0f; World.m[3][2] = 0.0f; World.m[3][3] = 1.0f;
	glUniformMatrix4fv(gWorldLocation, 1, GL_TRUE, &World.m[0][0]);
	glEnableVertexAttribArray(0);
	glBindBuffer(GL_ARRAY_BUFFER, VBO);
	glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, 0);
	glDrawArrays(GL_TRIANGLES, 0, 3);
	glDisableVertexAttribArray(0);
	glutSwapBuffers();
}
static void InitializeGlutCallbacks()
{
	glutDisplayFunc(RenderSceneCB);
	glutIdleFunc(RenderSceneCB);
}
static void CreateVertexBuffer()
{
	Vector3f Vertices[3];
	Vertices[0] = Vector3f(-1.0f, -1.0f, 0.0f);
	Vertices[1] = Vector3f(1.0f, -1.0f, 0.0f);
	Vertices[2] = Vector3f(0.0f, 1.0f, 0.0f);
	glGenBuffers(1, &VBO);
	glBindBuffer(GL_ARRAY_BUFFER, VBO);
	glBufferData(GL_ARRAY_BUFFER, sizeof(Vertices), Vertices, GL_STATIC_DRAW);
}
static void AddShader(GLuint ShaderProgram, const char* pShaderText, GLenum ShaderType)
{
	GLuint ShaderObj = glCreateShader(ShaderType);
	if (ShaderObj == 0) {
		fprintf(stderr, "Error creating shader type %d\n", ShaderType);
		exit(0);
	}
	const GLchar* p[1];
	p[0] = pShaderText;
	GLint Lengths[1];
	Lengths[0] = strlen(pShaderText);
	glShaderSource(ShaderObj, 1, p, Lengths);
	glCompileShader(ShaderObj);
	GLint success;
	glGetShaderiv(ShaderObj, GL_COMPILE_STATUS, &success);
	if (!success) {
		GLchar InfoLog[1024];
		glGetShaderInfoLog(ShaderObj, 1024, NULL, InfoLog);
		fprintf(stderr, "Error compiling shader type %d: '%s'\n", ShaderType, InfoLog);
		exit(1);
	}
	glAttachShader(ShaderProgram, ShaderObj);
}
static void CompileShaders()
{
	GLuint ShaderProgram = glCreateProgram();
	if (ShaderProgram == 0) {
		fprintf(stderr, "Error creating shader program\n");
		exit(1);
	}
	AddShader(ShaderProgram, pVS, GL_VERTEX_SHADER);
	AddShader(ShaderProgram, pFS, GL_FRAGMENT_SHADER);
	GLint Success = 0;
	GLchar ErrorLog[1024] = { 0 };
	glLinkProgram(ShaderProgram);
	glGetProgramiv(ShaderProgram, GL_LINK_STATUS, &Success);
	if (Success == 0) {
		glGetProgramInfoLog(ShaderProgram, sizeof(ErrorLog), NULL, ErrorLog);
		fprintf(stderr, "Error linking shader program: '%s'\n", ErrorLog);
		exit(1);
	}
	glValidateProgram(ShaderProgram);
	glGetProgramiv(ShaderProgram, GL_VALIDATE_STATUS, &Success);
	if (!Success) {
		glGetProgramInfoLog(ShaderProgram, sizeof(ErrorLog), NULL, ErrorLog);
		fprintf(stderr, "Invalid shader program: '%s'\n", ErrorLog);
		exit(1);
	}
	glUseProgram(ShaderProgram);
	gWorldLocation = glGetUniformLocation(ShaderProgram, "gWorld");
	assert(gWorldLocation != 0xFFFFFFFF);
}
int main(int argc, char** argv)
{
	glutInit(&argc, argv);
	glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA);
	glutInitWindowSize(1024, 768);
	glutInitWindowPosition(100, 100);
	glutCreateWindow("Tutorial 07");
	InitializeGlutCallbacks();
	// Must be done after glut is initialized!
	GLenum res = glewInit();
	if (res != GLEW_OK) {
		fprintf(stderr, "Error: '%s'\n", glewGetErrorString(res));
		return 1;
	}
	glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
	CreateVertexBuffer();
	CompileShaders();
	glutMainLoop();
	return 0;
}

效果展示：