45 lines
1.7 KiB
C++
45 lines
1.7 KiB
C++
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// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2015 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#include "look_at.h"
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template <
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typename Derivedeye,
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typename Derivedcenter,
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typename Derivedup,
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typename DerivedR>
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IGL_INLINE void igl::look_at(
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const Eigen::PlainObjectBase<Derivedeye> & eye,
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const Eigen::PlainObjectBase<Derivedcenter> & center,
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const Eigen::PlainObjectBase<Derivedup> & up,
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Eigen::PlainObjectBase<DerivedR> & R)
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{
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typedef Eigen::Matrix<typename DerivedR::Scalar,3,1> Vector3S;
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Vector3S f = (center - eye).normalized();
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Vector3S s = f.cross(up).normalized();
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Vector3S u = s.cross(f);
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R = Eigen::Matrix<typename DerivedR::Scalar,4,4>::Identity();
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R(0,0) = s(0);
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R(0,1) = s(1);
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R(0,2) = s(2);
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R(1,0) = u(0);
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R(1,1) = u(1);
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R(1,2) = u(2);
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R(2,0) =-f(0);
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R(2,1) =-f(1);
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R(2,2) =-f(2);
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R(0,3) =-s.transpose() * eye;
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R(1,3) =-u.transpose() * eye;
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R(2,3) = f.transpose() * eye;
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}
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#ifdef IGL_STATIC_LIBRARY
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// Explicit template instantiation
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// generated by autoexplicit.sh
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template void igl::look_at<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 4, 4, 0, 4, 4> >(Eigen::PlainObjectBase<Eigen::Matrix<float, 3, 1, 0, 3, 1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<float, 3, 1, 0, 3, 1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<float, 3, 1, 0, 3, 1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<float, 4, 4, 0, 4, 4> >&);
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#endif
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