import * as math from "../math";
import {type EventsHandler, createEvents} from "../Events";
import {Frustum} from "./Frustum";
import {Mat3} from "../math/Mat3";
import type {NumberArray9} from "../math/Mat3";
import {Mat4} from "../math/Mat4";
import type {NumberArray16} from "../math/Mat4";
import {Renderer} from "../renderer/Renderer";
import {Vec2} from "../math/Vec2";
import type {NumberArray2} from "../math/Vec2";
import {Vec3} from "../math/Vec3";
import {Vec4} from "../math/Vec4";
import {Sphere} from "../bv/Sphere";
import {Quat} from "../math/Quat";
import {DEGREES_DOUBLE, RADIANS, RADIANS_HALF} from "../math";
type CameraEvents = ["viewchange", "moveend"];
const EVENT_NAMES: CameraEvents = [
/**
* When camera has been updated.
* @event og.Camera#viewchange
*/
"viewchange",
/**
* Camera is stopped.
* @event og.Camera#moveend
*/
"moveend"
];
export interface ICameraParams {
eye?: Vec3;
viewAngle?: number;
look?: Vec3;
up?: Vec3;
frustums?: NumberArray2[]
width?: number;
height?: number;
}
const getHorizontalViewAngleByFov = (fov: number, aspect: number) => DEGREES_DOUBLE * Math.atan(Math.tan(RADIANS_HALF * fov) * aspect);
/**
* Camera class.
* @class
* //@param {Renderer} [renderer] - Renderer uses the camera instance.
* @param {Object} [options] - Camera options:
* @param {Object} [options.name] - Camera name.
* @param {number} [options.viewAngle=47] - Camera angle of view. Default is 47.0
* @param {number} [options.near=1] - Camera near plane distance. Default is 1.0
* @param {number} [options.far=og.math.MAX] - Camera far plane distance. Default is og.math.MAX
* @param {Vec3} [options.eye=[0,0,0]] - Camera eye position. Default (0,0,0)
* @param {Vec3} [options.look=[0,0,0]] - Camera look position. Default (0,0,0)
* @param {Vec3} [options.up=[0,1,0]] - Camera eye position. Default (0,1,0)
*
* @fires EventsHandler<CameraEvents>#viewchange
* @fires EventsHandler<CameraEvents>#moveend
*/
class Camera {
// /**
// * Assigned renderer
// * @public
// * @type {Renderer}
// */
// public renderer: Renderer | null;
/**
* Camera events handler
* @public
* @type {Events}
*/
public events: EventsHandler<CameraEvents>;
/**
* Camera position.
* @public
* @type {Vec3}
*/
public eye: Vec3;
/**
* Camera RTE high position
* @public
* @type {Float32Array}
*/
public eyeHigh: Float32Array;
/**
* Camera RTE low position
* @public
* @type {Float32Array}
*/
public eyeLow: Float32Array;
// /**
// * Aspect ratio.
// * @protected
// * @type {Number}
// */
// protected _aspect: number;
/**
* Camera view angle in degrees
* @protected
* @type {Number}
*/
protected _viewAngle: number;
protected _horizontalViewAngle: number;
/**
* Camera view matrix.
* @protected
* @type {Mat4}
*/
protected _viewMatrix: Mat4;
protected _viewMatrixRTE: Mat4;
/**
* Camera normal matrix.
* @protected
* @type {Mat3}
*/
protected _normalMatrix: Mat3;
/**
* Camera right vector.
* @protected
* @type {Vec3}
*/
public _r: Vec3;
/**
* Camera up vector.
* @protected
* @type {Vec3}
*/
public _u: Vec3;
/**
* Camera backward vector.
* @protected
* @type {Vec3}
*/
public _b: Vec3;
/**
* Camera forward vector.
* @protected
* @type {Vec3}
*/
public _f: Vec3;
protected _pr: Vec3;
protected _pu: Vec3;
protected _pb: Vec3;
protected _peye: Vec3;
public isMoving: boolean;
protected _tanViewAngle_hrad: number;
public _tanViewAngle_hradOneByHeight: number;
protected _projSizeConst: number;
public frustums: Frustum[];
public frustumColors: number[];
public FARTHEST_FRUSTUM_INDEX: number;
public currentFrustumIndex: number;
public frustumColorIndex: number;
public isFirstPass: boolean;
public _width: number;
public _height: number;
// public dirForwardNED: Vec3;
// public dirUpNED: Vec3;
// public dirRightNED: Vec3;
constructor(options: ICameraParams = {}) {
//this.renderer = renderer;
this.events = createEvents<CameraEvents>(EVENT_NAMES, this);
this._width = options.width || 1;
this._height = options.height || 1;
this.eye = options.eye || new Vec3();
this.eyeHigh = new Float32Array(3);
this.eyeLow = new Float32Array(3);
this._viewAngle = options.viewAngle || 47.0;
this._horizontalViewAngle = 0;
this._viewMatrix = new Mat4();
this._viewMatrixRTE = new Mat4();
this._normalMatrix = new Mat3();
this._r = new Vec3(1.0, 0.0, 0.0);
this._u = new Vec3(0.0, 1.0, 0.0);
this._b = new Vec3(0.0, 0.0, 1.0);
this._f = this._b.negateTo();
// Previous frame values
this._pr = this._r.clone();
this._pu = this._u.clone();
this._pb = this._b.clone();
this._peye = this.eye.clone();
this.isMoving = false;
this._tanViewAngle_hrad = 0.0;
this._tanViewAngle_hradOneByHeight = 0.0;
this.frustums = [];
this.frustumColors = [];
if (options.frustums) {
for (let i = 0, len = options.frustums.length; i < len; i++) {
let fi = options.frustums[i];
let fr = new Frustum({
fov: this._viewAngle,
aspect: this.getAspectRatio(),//this._aspect,
near: fi[0],
far: fi[1]
});
fr.cameraFrustumIndex = this.frustums.length;
this.frustums.push(fr);
//this.frustumColors.push.apply(this.frustumColors, fr._pickingColorU);
this.frustumColors.push(fr._pickingColorU[0], fr._pickingColorU[1], fr._pickingColorU[2]);
}
} else {
let near = 0.1,
far = 1000.0;
let fr = new Frustum({
fov: this._viewAngle,
aspect: this.getAspectRatio(),
near: near,
far: far
});
fr.cameraFrustumIndex = this.frustums.length;
this.frustums.push(fr);
//this.frustumColors.push.apply(this.frustumColors, fr._pickingColorU);
this.frustumColors.push(fr._pickingColorU[0], fr._pickingColorU[1], fr._pickingColorU[2]);
}
this.FARTHEST_FRUSTUM_INDEX = this.frustums.length - 1;
this.currentFrustumIndex = 0;
this.frustumColorIndex = 0;
this.isFirstPass = false;
this._projSizeConst = 0;
this.set(
options.eye || new Vec3(0.0, 0.0, 1.0),
options.look || new Vec3(),
options.up || new Vec3(0.0, 1.0, 0.0)
);
}
public checkMoveEnd() {
let r = this._r,
u = this._u,
b = this._b,
eye = this.eye;
if (this._peye.equal(eye) && this._pr.equal(r) && this._pu.equal(u) && this._pb.equal(b)) {
if (this.isMoving) {
this.events.dispatch(this.events.moveend, this);
}
this.isMoving = false;
} else {
this.isMoving = true;
}
this._pr.copy(r);
this._pu.copy(u);
this._pb.copy(b);
this._peye.copy(eye);
}
public bindFrustumsPickingColors(renderer: Renderer) {
for (let i = 0; i < this.frustums.length; i++) {
renderer.assignPickingColor<Frustum>(this.frustums[i]);
}
}
// public bindRenderer(renderer: Renderer) {
// this.renderer = renderer;
// for (let i = 0; i < this.frustums.length; i++) {
// this.renderer.assignPickingColor<Frustum>(this.frustums[i]);
// }
// this._aspect = this.renderer.handler.getClientAspect();
//
// this._setProj(this._viewAngle, this._aspect);
// }
/**
* Camera initialization.
* @public
* @param {Object} [options] - Camera options:
* @param {number} [options.viewAngle] - Camera angle of view.
* @param {number} [options.near] - Camera near plane distance. Default is 1.0
* @param {number} [options.far] - Camera far plane distance. Default is math.MAX
* @param {Vec3} [options.eye] - Camera eye position. Default (0,0,0)
* @param {Vec3} [options.look] - Camera look position. Default (0,0,0)
* @param {Vec3} [options.up] - Camera eye position. Default (0,1,0)
*/
protected _init(options: ICameraParams) {
this._setProj(this._viewAngle, this.getAspectRatio());
this.set(
options.eye || new Vec3(0.0, 0.0, 1.0),
options.look || new Vec3(),
options.up || new Vec3(0.0, 1.0, 0.0)
);
}
public getUp(): Vec3 {
return this._u.clone();
}
public getDown(): Vec3 {
return this._u.negateTo();
}
public getRight(): Vec3 {
return this._r.clone();
}
public getLeft(): Vec3 {
return this._r.negateTo();
}
public getForward(): Vec3 {
return this._f.clone();
}
public getBackward(): Vec3 {
return this._b.clone();
}
/**
* Updates camera view space
* @public
* @virtual
*/
public update() {
let u = this._r,
v = this._u,
n = this._b,
eye = this.eye;
Vec3.doubleToTwoFloat32Array(eye, this.eyeHigh, this.eyeLow);
this._viewMatrix.set([
u.x, v.x, n.x, 0.0,
u.y, v.y, n.y, 0.0,
u.z, v.z, n.z, 0.0,
-eye.dot(u), -eye.dot(v), -eye.dot(n), 1.0
]);
this._viewMatrixRTE.set([
u.x, v.x, n.x, 0.0,
u.y, v.y, n.y, 0.0,
u.z, v.z, n.z, 0.0,
0, 0, 0, 1.0
]);
// do not clean up, someday it will be using
//this._normalMatrix = this._viewMatrix.toMatrix3(); // this._viewMatrix.toInverseMatrix3().transposeTo();
for (let i = 0, len = this.frustums.length; i < len; i++) {
this.frustums[i].setViewMatrix(this._viewMatrix);
this.frustums[i].setProjectionViewRTEMatrix(this._viewMatrixRTE);
}
this.events.dispatch(this.events.viewchange, this);
}
/**
* Refresh camera matrices
* @public
*/
public refresh() {
this._setProj(this._viewAngle, this.getAspectRatio());
this.update();
}
// /**
// * Sets aspect ratio
// * @public
// * @param {Number} aspect - Camera aspect ratio
// */
// public setAspectRatio(aspect: number) {
// this._aspect = aspect;
// this.refresh();
// }
public get width(): number {
return this._width;
}
public get height(): number {
return this._height;
}
public setViewportSize(width: number, height: number) {
this._width = width;
this._height = height;
this.refresh();
}
/**
* Returns aspect ratio
* @public
* @returns {number} - Aspect ratio
*/
public getAspectRatio(): number {
return this._width / this._height;
}
/**
* Sets up camera projection
* @public
* @param {number} angle - Camera view angle
* @param {number} aspect - Screen aspect ratio
*/
protected _setProj(angle: number, aspect: number) {
this._viewAngle = angle;
for (let i = 0, len = this.frustums.length; i < len; i++) {
this.frustums[i].setProjectionMatrix(
angle,
aspect,
this.frustums[i].near,
this.frustums[i].far
);
}
this._horizontalViewAngle = getHorizontalViewAngleByFov(angle, aspect);
this._updateViewportParameters();
}
protected _updateViewportParameters() {
this._tanViewAngle_hrad = Math.tan(this._viewAngle * math.RADIANS_HALF);
this._tanViewAngle_hradOneByHeight = this._tanViewAngle_hrad * (1.0 / this._height);
this._projSizeConst = Math.min(this._width < 512 ? 512 : this._width, this._height < 512 ? 512 : this._height) / (this._viewAngle * RADIANS);
}
/**
* Sets camera view angle in degrees
* @public
* @param {number} angle - View angle
*/
public setViewAngle(angle: number) {
this._viewAngle = angle;
this.refresh();
}
/**
* Gets camera view angle in degrees
* @public
* @returns {number} angle -
*/
public getViewAngle(): number {
return this._viewAngle;
}
public get viewAngle(): number {
return this._viewAngle;
}
public get verticalViewAngle(): number {
return this._viewAngle;
}
public get horizontalViewAngle(): number {
return this._horizontalViewAngle;
}
/**
* Sets camera to eye position
* @public
* @param {Vec3} eye - Camera position
* @param {Vec3} look - Look point
* @param {Vec3} up - Camera up vector
* @returns {Camera} - This camera
*/
public set(eye: Vec3, look?: Vec3, up?: Vec3): this {
this.eye.x = eye.x;
this.eye.y = eye.y;
this.eye.z = eye.z;
look = look || this._b;
up = up || this._u;
this._b.x = eye.x - look.x;
this._b.y = eye.y - look.y;
this._b.z = eye.z - look.z;
this._r.copy(up.cross(this._b));
this._b.normalize();
this._r.normalize();
this._u.copy(this._b.cross(this._r));
this._f.set(-this._b.x, -this._b.y, -this._b.z);
return this;
}
/**
* Sets camera look point
* @public
* @param {Vec3} look - Look point
* @param {Vec3} [up] - Camera up vector otherwise camera current up vector(this._u)
*/
public look(look: Vec3, up?: Vec3) {
this._b.set(this.eye.x - look.x, this.eye.y - look.y, this.eye.z - look.z);
this._r.copy((up || this._u).cross(this._b));
this._b.normalize();
this._f.set(-this._b.x, -this._b.y, -this._b.z);
this._r.normalize();
this._u.copy(this._b.cross(this._r));
}
/**
* Slides camera to vector d - (du, dv, dn)
* @public
* @param {number} du - delta X
* @param {number} dv - delta Y
* @param {number} dn - delta Z
*/
public slide(du: number, dv: number, dn: number) {
this.eye.x += du * this._r.x + dv * this._u.x + dn * this._b.x;
this.eye.y += du * this._r.y + dv * this._u.y + dn * this._b.y;
this.eye.z += du * this._r.z + dv * this._u.z + dn * this._b.z;
}
/**
* Roll the camera to the angle in radians
* @public
* @param {number} angle - Delta roll angle in radians
*/
public setRoll(angle: number) {
let cs = Math.cos(angle);
let sn = Math.sin(angle);
let t = this._r.clone();
this._r.set(
cs * t.x - sn * this._u.x,
cs * t.y - sn * this._u.y,
cs * t.z - sn * this._u.z
);
this._u.set(
sn * t.x + cs * this._u.x,
sn * t.y + cs * this._u.y,
sn * t.z + cs * this._u.z
);
}
/**
* Pitch the camera to the angle in radians
* @public
* @param {number} angle - Delta pitch angle in radians
*/
public setPitch(angle: number) {
let cs = Math.cos(angle);
let sn = Math.sin(angle);
let t = this._b;
this._b.set(
cs * t.x - sn * this._u.x,
cs * t.y - sn * this._u.y,
cs * t.z - sn * this._u.z
);
this._u.set(
sn * t.x + cs * this._u.x,
sn * t.y + cs * this._u.y,
sn * t.z + cs * this._u.z
);
}
/**
* Yaw the camera to the angle in radians
* @public
* @param {number} angle - Delta yaw angle in radians
*/
public setYaw(angle: number) {
let cs = Math.cos(angle);
let sn = Math.sin(angle);
let t = this._r;
this._r.set(
cs * t.x - sn * this._b.x,
cs * t.y - sn * this._b.y,
cs * t.z - sn * this._b.z
);
this._b.set(
sn * t.x + cs * this._b.x,
sn * t.y + cs * this._b.y,
sn * t.z + cs * this._b.z
);
}
public setPitchYawRoll(pitch: number, yaw: number, roll: number) {
let qRot = new Quat();
qRot.setPitchYawRoll(pitch, yaw, roll);
this.setRotation(qRot);
}
public getPitch(): number {
return this.getRotation().getPitch();
}
public getYaw(): number {
return this.getRotation().getYaw();
}
public getRoll(): number {
return this.getRotation().getRoll();
}
/**
* Returns camera quaternion
*/
public getRotation(): Quat {
return Quat.getLookRotation(this._f, this._u).conjugate();
}
public setRotation(rot: Quat, up?: Vec3, right?: Vec3, back?: Vec3) {
rot.mulVec3Res(up || new Vec3(0, 1, 0), this._u);
rot.mulVec3Res(right || new Vec3(1, 0, 0), this._r);
rot.mulVec3Res(back || new Vec3(0, 0, 1), this._b);
this._f.set(-this._b.x, -this._b.y, -this._b.z);
}
public rotate(rot: Quat) {
rot.mulVec3Res(this._u, this._u);
rot.mulVec3Res(this._r, this._r);
rot.mulVec3Res(this._b, this._b);
this._f.set(-this._b.x, -this._b.y, -this._b.z);
}
/**
* Returns normal vector direction to the unprojected screen point from camera eye
* @public
* @param {Vec2} pos - Screen X coordinate
* @returns {Vec3} - Direction vector
*/
public unproject2v(pos: Vec2) {
return this.unproject(pos.x, pos.y);
}
/**
* Returns normal vector direction to the unprojected screen point from camera eye
* @public
* @param {number} x - Screen X coordinate
* @param {number} y - Screen Y coordinate
* @returns {Vec3} - Direction vector
*/
public unproject(x: number, y: number) {
// let c = this.renderer!.handler.canvas!,
// w = c.width * 0.5,
// h = c.height * 0.5;
let w = this._width * 0.5,
h = this._height * 0.5;
let px = (x - w) / w,
py = -(y - h) / h;
let world1 = this.frustums[0].inverseProjectionViewMatrix.mulVec4(new Vec4(px, py, -1.0, 1.0)).affinity(),
world2 = this.frustums[0].inverseProjectionViewMatrix.mulVec4(new Vec4(px, py, 0.0, 1.0)).affinity();
return world2.subA(world1).toVec3().normalize();
}
/**
* Gets projected 3d point to the 2d screen coordinates
* @public
* @param {Vec3} v - Cartesian 3d coordinates
* @returns {Vec2} - Screen point coordinates
*/
public project3v(v: Vec3): Vec2 {
return this.project(v.x, v.y, v.z);
}
/**
* Gets projected 3d point to the 2d screen coordinates
* @public
* @param {number} x - X coordinate
* @param {number} y - Y coordinate
* @param {number} z - Z coordinate
* @returns {Vec2} - Screen point coordinates
*/
public project(x: number, y: number, z: number): Vec2 {
let r = this.frustums[0].projectionViewMatrix.mulVec4(new Vec4(x, y, z, 1.0));
return new Vec2((1 + r.x / r.w) * this._width * 0.5, (1 - r.y / r.w) * this._height * 0.5);
}
/**
* Rotates camera around center point
* @public
* @param {number} angle - Rotation angle in radians
* @param {boolean} [isArc] - If true camera up vector gets from current up vector every frame,
* otherwise up is always input parameter.
* @param {Vec3} [center] - Point that the camera rotates around
* @param {Vec3} [up] - Camera up vector
*/
public rotateAround(angle: number, isArc: boolean = false, center: Vec3 = Vec3.ZERO, up: Vec3 = Vec3.UP) {
up = isArc ? this._u : up;
let rot = Mat4.getRotation(angle, up);
let trm = Mat4.getRotationAroundPoint(angle, center, up);
this.eye = trm.mulVec3(this.eye);
this._u = rot.mulVec3(this._u).normalize();
this._r = rot.mulVec3(this._r).normalize();
this._b = rot.mulVec3(this._b).normalize();
this._f.set(-this._b.x, -this._b.y, -this._b.z);
}
/**
* Rotates camera around center point by horizontal.
* @public
* @param {number} angle - Rotation angle in radians.
* @param {boolean} [isArc] - If true camera up vector gets from current up vector every frame,
* otherwise up is always input parameter.
* @param {Vec3} [center] - Point that the camera rotates around.
* @param {Vec3} [up] - Camera up vector.
*/
public rotateHorizontal(angle: number, isArc?: boolean, center?: Vec3, up?: Vec3) {
this.rotateAround(angle, isArc, center, up);
}
/**
* Rotates camera around center point by vertical.
* @param {number} angle - Rotation angle in radians.
* @param {Vec3} [center] - Point that the camera rotates around.
*/
public rotateVertical(angle: number, center?: Vec3) {
this.rotateAround(angle, false, center, this._r);
}
/**
* Gets 3d size factor. Uses in LOD distance calculation.
* @public
* @param {Vec3} p - Far point.
* @param {Vec3} r - Far point.
* @returns {number} - Size factor.
*/
public projectedSize(p: Vec3, r: number): number {
return Math.atan(r / this.eye.distance(p)) * this._projSizeConst;
}
/**
* Returns model matrix.
* @public
* @returns {NumberArray16} - View matrix.
*/
public getViewMatrix(): NumberArray16 {
return this._viewMatrix._m;
}
/**
* Returns normal matrix.
* @public
* @returns {NumberArray9} - Normal matrix.
*/
public getNormalMatrix(): NumberArray9 {
return this._normalMatrix._m;
}
public setCurrentFrustum(k: number) {
this.currentFrustumIndex = k;
this.frustumColorIndex = (k + 1) * 10.0 / 255.0;
this.isFirstPass = k === this.FARTHEST_FRUSTUM_INDEX;
}
public getCurrentFrustum(): number {
return this.currentFrustumIndex;
}
public containsSphere(sphere: Sphere): boolean {
for (let i = 0; i < this.frustums.length; i++) {
if (this.frustums[i].containsSphere(sphere)) {
return true;
}
}
return false;
}
public get frustum(): Frustum {
return this.frustums[this.currentFrustumIndex];
}
/**
* Returns projection matrix.
* @public
* @returns {Mat4} - Projection matrix.
*/
public getProjectionMatrix(): NumberArray16 {
return this.frustum.projectionMatrix._m;
}
/**
* Returns projection and model matrix product.
* @public
* @return {Mat4} - Projection-view matrix.
*/
public getProjectionViewMatrix(): NumberArray16 {
return this.frustum.projectionViewMatrix._m;
}
/**
* Returns projection and model RTE matrix product.
* @public
* @return {Mat4} - Projection-view matrix.
*/
public getProjectionViewRTEMatrix(): NumberArray16 {
return this.frustum.projectionViewRTEMatrix._m;
}
/**
* Returns inverse projection and model matrix product.
* @public
* @returns {Mat4} - Inverse projection-view matrix.
*/
public getInverseProjectionViewMatrix(): NumberArray16 {
return this.frustum.inverseProjectionViewMatrix._m;
}
/**
* Returns inverse projection matrix.
* @public
* @returns {Mat4} - Inverse projection-view matrix.
*/
public getInverseProjectionMatrix(): NumberArray16 {
return this.frustum.inverseProjectionMatrix._m;
}
public viewDistance(cartesian: Vec3, distance: number = 10000.0) {
let p0 = this.eye.add(this.getForward().scaleTo(distance));
let _rot = Quat.getRotationBetweenVectors(p0.getNormal(), cartesian.getNormal());
let newPos = cartesian.add(this.getBackward().scaleTo(distance));
this.set(newPos, cartesian);
this.update();
}
public copy(cam: Camera) {
this.eye.copy(cam.eye);
this._r.copy(cam._r);
this._u.copy(cam._u);
this._b.copy(cam._b);
this._f.copy(cam._f);
this._width = cam.width;
this._height = cam.height;
this.setViewAngle(cam.viewAngle);
this.update();
}
public getAltitude(): number {
return this.eye.y;
}
}
export {Camera};