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