From b6068b6278441f084ccacb37e047f9cd9844cc2a Mon Sep 17 00:00:00 2001 From: bubnikv Date: Fri, 28 Feb 2020 13:29:05 +0100 Subject: Camera refactored to use quaternions primarily for processing rotations due to numerical reasons (no need for normalization and orthogonalization of the rotation matrix). --- src/slic3r/GUI/Camera.cpp | 76 ++++++++++++++--------------------------------- src/slic3r/GUI/Camera.hpp | 7 ++--- 2 files changed, 26 insertions(+), 57 deletions(-) (limited to 'src/slic3r/GUI') diff --git a/src/slic3r/GUI/Camera.cpp b/src/slic3r/GUI/Camera.cpp index d17ba7cd7..df3d219b2 100644 --- a/src/slic3r/GUI/Camera.cpp +++ b/src/slic3r/GUI/Camera.cpp @@ -43,6 +43,7 @@ Camera::Camera() , m_distance(DefaultDistance) , m_gui_scale(1.0) , m_view_matrix(Transform3d::Identity()) + , m_view_rotation(1., 0., 0., 0.) , m_projection_matrix(Transform3d::Identity()) { set_default_orientation(); @@ -85,7 +86,13 @@ void Camera::select_next_type() void Camera::set_target(const Vec3d& target) { - translate_world(target - m_target); + Vec3d new_target = validate_target(target); + Vec3d new_displacement = new_target - m_target; + if (!new_displacement.isApprox(Vec3d::Zero())) + { + m_target = new_target; + m_view_matrix.translate(-new_displacement); + } } void Camera::update_zoom(double delta_zoom) @@ -299,17 +306,6 @@ void Camera::debug_render() const } #endif // ENABLE_CAMERA_STATISTICS -void Camera::translate_world(const Vec3d& displacement) -{ - Vec3d new_target = validate_target(m_target + displacement); - Vec3d new_displacement = new_target - m_target; - if (!new_displacement.isApprox(Vec3d::Zero())) - { - m_target += new_displacement; - m_view_matrix.translate(-new_displacement); - } -} - void Camera::rotate_on_sphere(double delta_azimut_rad, double delta_zenit_rad, bool apply_limits) { m_zenit += Geometry::rad2deg(delta_zenit_rad); @@ -324,49 +320,20 @@ void Camera::rotate_on_sphere(double delta_azimut_rad, double delta_zenit_rad, b } } - // FIXME -> The following is a HACK !!! - // When the value of the zenit rotation is large enough, the following call to rotate() shows - // numerical instability introducing some scaling into m_view_matrix (verified by checking - // that the camera space unit vectors are no more unit). - // See also https://dev.prusa3d.com/browse/SPE-1082 - // We split the zenit rotation into a set of smaller rotations which are then applied. - static const double MAX_ALLOWED = Geometry::deg2rad(0.1); - unsigned int zenit_steps_count = 1 + (unsigned int)(std::abs(delta_zenit_rad) / MAX_ALLOWED); - double zenit_step = delta_zenit_rad / (double)zenit_steps_count; - - Vec3d target = m_target; - translate_world(-target); - - if (zenit_step != 0.0) - { - Vec3d right = get_dir_right(); - for (unsigned int i = 0; i < zenit_steps_count; ++i) - { - m_view_matrix.rotate(Eigen::AngleAxisd(zenit_step, right)); - } - } - - if (delta_azimut_rad != 0.0) - m_view_matrix.rotate(Eigen::AngleAxisd(delta_azimut_rad, Vec3d::UnitZ())); - - translate_world(target); + Vec3d translation = m_view_matrix.translation() + m_view_rotation * m_target; + auto rot_z = Eigen::AngleAxisd(delta_azimut_rad, Vec3d::UnitZ()); + m_view_rotation *= rot_z * Eigen::AngleAxisd(delta_zenit_rad, rot_z.inverse() * get_dir_right()); + m_view_matrix.fromPositionOrientationScale(m_view_rotation * (- m_target) + translation, m_view_rotation, Vec3d(1., 1., 1.)); } void Camera::rotate_local_around_target(const Vec3d& rotation_rad) { - rotate_local_around_pivot(rotation_rad, m_target); -} - -void Camera::rotate_local_around_pivot(const Vec3d& rotation_rad, const Vec3d& pivot) -{ - // we use a copy of the pivot because a reference to the current m_target may be passed in (see i.e. rotate_local_around_target()) - // and m_target is modified by the translate_world() calls - Vec3d center = pivot; - translate_world(-center); - m_view_matrix.rotate(Eigen::AngleAxisd(rotation_rad(0), get_dir_right())); - m_view_matrix.rotate(Eigen::AngleAxisd(rotation_rad(1), get_dir_up())); - m_view_matrix.rotate(Eigen::AngleAxisd(rotation_rad(2), get_dir_forward())); - translate_world(center); + Vec3d translation = m_view_matrix.translation() + m_view_rotation * m_target; + auto rot_z = Eigen::AngleAxisd(rotation_rad(2), get_dir_forward()); + auto rot_y = Eigen::AngleAxisd(rotation_rad(1), rot_z.inverse() * get_dir_up()); + auto rot_x = Eigen::AngleAxisd(rotation_rad(0), rot_y.inverse() * get_dir_right()); + m_view_rotation *= rot_z * rot_y * rot_x; + m_view_matrix.fromPositionOrientationScale(m_view_rotation * (-m_target) + translation, m_view_rotation, Vec3d(1., 1., 1.)); update_zenit(); } @@ -588,6 +555,9 @@ void Camera::look_at(const Vec3d& position, const Vec3d& target, const Vec3d& up m_view_matrix(3, 2) = 0.0; m_view_matrix(3, 3) = 1.0; + // Initialize the rotation quaternion from the rotation submatrix of of m_view_matrix. + m_view_rotation = Eigen::Quaterniond(m_view_matrix.matrix().template block<3, 3>(0, 0)); + update_zenit(); } @@ -598,8 +568,8 @@ void Camera::set_default_orientation() double phi_rad = Geometry::deg2rad(45.0); double sin_theta = ::sin(theta_rad); Vec3d camera_pos = m_target + m_distance * Vec3d(sin_theta * ::sin(phi_rad), sin_theta * ::cos(phi_rad), ::cos(theta_rad)); - m_view_matrix = Transform3d::Identity(); - m_view_matrix.rotate(Eigen::AngleAxisd(theta_rad, Vec3d::UnitX())).rotate(Eigen::AngleAxisd(phi_rad, Vec3d::UnitZ())).translate(-camera_pos); + m_view_rotation = Eigen::AngleAxisd(theta_rad, Vec3d::UnitX()) * Eigen::AngleAxisd(phi_rad, Vec3d::UnitZ()); + m_view_matrix.fromPositionOrientationScale(m_view_rotation * (- camera_pos), m_view_rotation, Vec3d(1., 1., 1.)); } Vec3d Camera::validate_target(const Vec3d& target) const diff --git a/src/slic3r/GUI/Camera.hpp b/src/slic3r/GUI/Camera.hpp index 0ddaa8ff3..f592dbcd2 100644 --- a/src/slic3r/GUI/Camera.hpp +++ b/src/slic3r/GUI/Camera.hpp @@ -43,6 +43,8 @@ private: mutable std::array m_viewport; mutable Transform3d m_view_matrix; + // We are calculating the rotation part of the m_view_matrix from m_view_rotation. + mutable Eigen::Quaterniond m_view_rotation; mutable Transform3d m_projection_matrix; mutable std::pair m_frustrum_zs; @@ -107,7 +109,7 @@ public: #endif // ENABLE_CAMERA_STATISTICS // translate the camera in world space - void translate_world(const Vec3d& displacement); + void translate_world(const Vec3d& displacement) { this->set_target(m_target + displacement); } // rotate the camera on a sphere having center == m_target and radius == m_distance // using the given variations of spherical coordinates @@ -117,9 +119,6 @@ public: // rotate the camera around three axes parallel to the camera local axes and passing through m_target void rotate_local_around_target(const Vec3d& rotation_rad); - // rotate the camera around three axes parallel to the camera local axes and passing through the given pivot point - void rotate_local_around_pivot(const Vec3d& rotation_rad, const Vec3d& pivot); - // returns true if the camera z axis (forward) is pointing in the negative direction of the world z axis bool is_looking_downward() const { return get_dir_forward().dot(Vec3d::UnitZ()) < 0.0; } -- cgit v1.2.3