Merge pull request #22 from orange-cpp/u/orange-cpp/improved-camera

U/orange cpp/improved camera

CMakeLists.txt

@@ -16,7 +16,10 @@ option(OMATH_BUILD_AS_SHARED_LIBRARY "Build Omath as .so or .dll" OFF)
 if (OMATH_BUILD_AS_SHARED_LIBRARY)
     add_library(omath SHARED source/Vector3.cpp)
 else()
-    add_library(omath STATIC source/Vector3.cpp)
+    add_library(omath STATIC source/Vector3.cpp
+            include/omath/engines/OpenGL/Constants.hpp
+            include/omath/engines/OpenGL/Formulas.hpp
+            include/omath/engines/OpenGL/Camera.hpp)
 endif()
 
 target_compile_definitions(omath PUBLIC OMATH_EXPORT)

include/omath/engines/OpenGL/Camera.hpp

@@ -0,0 +1,19 @@
+//
+// Created by Orange on 12/23/2024.
+//
+#pragma once
+#include "Constants.hpp"
+#include "omath/projection/Camera.hpp"
+
+namespace omath::opengl
+{
+    class Camera final : public projection::Camera<Mat4x4, ViewAngles>
+    {
+    public:
+        Camera(const Vector3& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
+               const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, float near, float far);
+        void LookAt(const Vector3& target) override;
+        [[nodiscard]] Mat4x4 CalcViewMatrix() const override;
+        [[nodiscard]] Mat4x4 CalcProjectionMatrix() const override;
+    };
+}

include/omath/engines/OpenGL/Constants.hpp

@@ -0,0 +1,25 @@
+//
+// Created by Orange on 12/23/2024.
+//
+#pragma once
+
+#include <omath/Vector3.hpp>
+#include <omath/Mat.hpp>
+#include <omath/Angle.hpp>
+#include <omath/ViewAngles.hpp>
+
+namespace omath::opengl
+{
+    constexpr Vector3 kAbsUp = {0, 1, 0};
+    constexpr Vector3 kAbsRight = {1, 0, 0};
+    constexpr Vector3 kAbsForward = {0, 0, -1};
+
+    using Mat4x4 = Mat<4, 4, float, MatStoreType::COLUMN_MAJOR>;
+    using Mat3x3 = Mat<4, 4, float, MatStoreType::COLUMN_MAJOR>;
+    using Mat1x3 = Mat<1, 3, float, MatStoreType::COLUMN_MAJOR>;
+    using PitchAngle = Angle<float, 0.f, 180.f, AngleFlags::Clamped>;
+    using YawAngle = Angle<float, 0.f, 360.f, AngleFlags::Normalized>;
+    using RollAngle = Angle<float, 0.f, 360.f, AngleFlags::Normalized>;
+
+    using ViewAngles = omath::ViewAngles<PitchAngle, YawAngle, RollAngle>;
+}

include/omath/engines/OpenGL/Formulas.hpp

@@ -0,0 +1,54 @@
+//
+// Created by Orange on 12/23/2024.
+//
+#pragma once
+#include "Constants.hpp"
+
+
+namespace omath::opengl
+{
+    [[nodiscard]]
+    inline Vector3 ForwardVector(const ViewAngles& angles)
+    {
+        const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsForward);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+
+    [[nodiscard]]
+    inline Vector3 RightVector(const ViewAngles& angles)
+    {
+        const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsRight);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+
+    [[nodiscard]]
+    inline Vector3 UpVector(const ViewAngles& angles)
+    {
+        const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsUp);
+
+        return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
+    }
+
+    [[nodiscard]] inline Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3& cam_origin)
+    {
+        return MatCameraView<float, MatStoreType::COLUMN_MAJOR>(-ForwardVector(angles), RightVector(angles), UpVector(angles), cam_origin);
+    }
+
+
+    [[nodiscard]]
+    inline Mat4x4 CalcPerspectiveProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near,
+                                                  const float far)
+    {
+        const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2.f);
+
+        return {
+                    {1.f / (aspectRatio * fovHalfTan), 0, 0, 0},
+                    {0, 1.f / (fovHalfTan), 0, 0},
+                    {0, 0, -(far + near) / (far - near), -(2.f * far * near) / (far - near)},
+                    {0, 0, -1, 0},
+
+            };
+    }
+}

include/omath/engines/Source/Camera.hpp

@@ -2,7 +2,7 @@
 // Created by Orange on 12/4/2024.
 //
 #pragma once
-#include "Constants.h"
+#include "Constants.hpp"
 #include "omath/projection/Camera.hpp"
 
 namespace omath::source
@@ -13,7 +13,7 @@ namespace omath::source
         Camera(const Vector3& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
                const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, float near, float far);
         void LookAt(const Vector3& target) override;
-        [[nodiscard]] Mat4x4 GetViewMatrix() const override;
+        [[nodiscard]] Mat4x4 CalcViewMatrix() const override;
-        [[nodiscard]] Mat4x4 GetProjectionMatrix() const override;
+        [[nodiscard]] Mat4x4 CalcProjectionMatrix() const override;
     };
 }

include/omath/engines/Source/Formulas.hpp

@@ -2,7 +2,7 @@
 // Created by Orange on 12/4/2024.
 //
 #pragma once
-#include "Constants.h"
+#include "Constants.hpp"
 
 namespace omath::source
 {

include/omath/projection/Camera.hpp

@@ -29,7 +29,6 @@ namespace omath::projection
     template<class Mat4x4Type, class ViewAnglesType>
     class Camera
     {
-
     public:
         virtual ~Camera() = default;
         Camera(const Vector3& position, const ViewAnglesType& viewAngles, const ViewPort& viewPort,
@@ -42,18 +41,82 @@ namespace omath::projection
 
         virtual void LookAt(const Vector3& target) = 0;
 
-        [[nodiscard]] virtual Mat4x4Type GetViewMatrix() const = 0;
+        [[nodiscard]] virtual Mat4x4Type CalcViewMatrix() const = 0;
 
-        [[nodiscard]] virtual Mat4x4Type GetProjectionMatrix() const = 0;
+        [[nodiscard]] virtual Mat4x4Type CalcProjectionMatrix() const = 0;
 
-        [[nodiscard]] Mat4x4Type GetViewProjectionMatrix()
+        [[nodiscard]] Mat4x4Type CalcViewProjectionMatrix() const
         {
-            return GetProjectionMatrix() * GetViewMatrix();
+            return CalcProjectionMatrix() * CalcViewMatrix();
         }
 
-        [[nodiscard]] std::expected<Vector3, Error> WorldToScreen(const Mat4x4Type& viewProj, const Vector3& worldPosition) const
+        void SetFieldOfView(const FieldOfView& fov)
         {
-            auto projected = viewProj * MatColumnFromVector<float, Mat4x4Type::GetStoreOrdering()>(worldPosition);
+            m_fieldOfView = fov;
+            m_viewProjectionMatrix = CalcViewProjectionMatrix();
+        }
+
+        void SetNearPlane(const float near)
+        {
+            m_nearPlaneDistance = near;
+            m_viewProjectionMatrix = CalcViewProjectionMatrix();
+        }
+
+        void SetFarPlane(const float far)
+        {
+            m_farPlaneDistance = far;
+            m_viewProjectionMatrix = CalcViewProjectionMatrix();
+        }
+
+        void SetViewAngles(const ViewAnglesType& viewAngles)
+        {
+            m_viewAngles = viewAngles;
+            m_viewProjectionMatrix = CalcViewProjectionMatrix();
+        }
+
+        void SetOrigin(const Vector3& origin)
+        {
+            m_origin = origin;
+            m_viewProjectionMatrix = CalcViewProjectionMatrix();
+        }
+
+        void SetViewPort(const ViewPort& viewPort)
+        {
+            m_viewPort = viewPort;
+            m_viewProjectionMatrix = CalcViewProjectionMatrix();
+        }
+
+        [[nodiscard]] const FieldOfView& GetFieldOfView() const
+        {
+            return m_fieldOfView;
+        }
+
+        [[nodiscard]] const float& GetNearPlane() const
+        {
+            return m_nearPlaneDistance;
+        }
+
+        [[nodiscard]] const float& GetFarPlane() const
+        {
+            return m_farPlaneDistance;
+        }
+
+        [[nodiscard]] const ViewAnglesType& GetViewAngles() const
+        {
+            return m_viewAngles;
+        }
+
+        [[nodiscard]] const Vector3& GetOrigin() const
+        {
+            return m_origin;
+        }
+
+        [[nodiscard]] std::expected<Vector3, Error> WorldToScreen(const Vector3& worldPosition) const
+        {
+            if (!m_viewProjectionMatrix.has_value())
+                m_viewProjectionMatrix = CalcViewProjectionMatrix();
+
+            auto projected = m_viewProjectionMatrix.value() * MatColumnFromVector<float, Mat4x4Type::GetStoreOrdering()>(worldPosition);
 
             if (projected.At(3, 0) == 0.0f)
                 return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
@@ -63,13 +126,18 @@ namespace omath::projection
             if (IsNdcOutOfBounds(projected))
                 return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
 
-            return Vector3{(projected.At(0,0)+1) / 2 * m_viewPort.m_width , (-projected.At(1,0)+1) / 2 * m_viewPort.m_height, projected.At(2,0)};
+            const auto screenPositionX = (projected.At(0,0)+1.f) / 2.f * m_viewPort.m_width;
+            const auto screenPositionY = (-projected.At(1,0)+1) / 2.f * m_viewPort.m_height;
+
+            return Vector3{screenPositionX, screenPositionY, projected.At(2,0)};
         }
 
     protected:
         ViewPort m_viewPort{};
         Angle<float, 0.f, 180.f, AngleFlags::Clamped> m_fieldOfView;
 
+        mutable std::optional<Mat4x4Type> m_viewProjectionMatrix;
+
         float m_farPlaneDistance;
         float m_nearPlaneDistance;
 

source/engines/CMakeLists.txt

@@ -1 +1,2 @@
-add_subdirectory(Source)
+add_subdirectory(Source)
+add_subdirectory(OpenGL)

source/engines/OpenGL/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(omath PRIVATE Camera.cpp)

source/engines/OpenGL/Camera.cpp

@@ -0,0 +1,35 @@
+//
+// Created by Orange on 12/23/2024.
+//
+#include "omath/engines/OpenGL/Camera.hpp"
+#include "omath/engines/OpenGL/Formulas.hpp"
+
+
+namespace omath::opengl
+{
+
+    Camera::Camera(const Vector3& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
+                   const Angle<float, 0, 180, AngleFlags::Clamped>& fov, const float near, const float far) :
+        projection::Camera<Mat4x4, ViewAngles>(position, viewAngles, viewPort, fov, near, far)
+    {
+    }
+    void Camera::LookAt([[maybe_unused]] const Vector3& target)
+    {
+        const float distance = m_origin.DistTo(target);
+        const auto delta = target - m_origin;
+
+
+        m_viewAngles.pitch = PitchAngle::FromRadians(std::asin(delta.z / distance));
+        m_viewAngles.yaw = -YawAngle::FromRadians(std::atan2(delta.y, delta.x));
+        m_viewAngles.roll = RollAngle::FromRadians(0.f);
+    }
+    Mat4x4 Camera::CalcViewMatrix() const
+    {
+        return opengl::CalcViewMatrix(m_viewAngles, m_origin);
+    }
+    Mat4x4 Camera::CalcProjectionMatrix() const
+    {
+        return CalcPerspectiveProjectionMatrix(m_fieldOfView.AsDegrees(), m_viewPort.AspectRatio(), m_nearPlaneDistance,
+                                               m_farPlaneDistance);
+    }
+} // namespace omath::opengl

source/engines/Source/Camera.cpp

@@ -24,13 +24,14 @@ namespace omath::source
         m_viewAngles.roll = RollAngle::FromRadians(0.f);
     }
 
-    Mat4x4 Camera::GetViewMatrix() const
+    Mat4x4 Camera::CalcViewMatrix() const
     {
-        return CalcViewMatrix(m_viewAngles, m_origin);
+        return source::CalcViewMatrix(m_viewAngles, m_origin);
     }
 
-    Mat4x4 Camera::GetProjectionMatrix() const
+    Mat4x4 Camera::CalcProjectionMatrix() const
     {
-        return CalcPerspectiveProjectionMatrix(m_fieldOfView.AsDegrees(), m_viewPort.AspectRatio(), m_nearPlaneDistance, m_farPlaneDistance);
+        return CalcPerspectiveProjectionMatrix(m_fieldOfView.AsDegrees(), m_viewPort.AspectRatio(), m_nearPlaneDistance,
+                                               m_farPlaneDistance);
     }
 } // namespace omath::source

tests/engines/UnitTestOpenGL.cpp

@@ -1,37 +1,69 @@
 //
 // Created by Orange on 11/23/2024.
 //
-#include <complex>
 #include <gtest/gtest.h>
-#include <omath/Matrix.hpp>
+#include <omath/engines/OpenGL/Camera.hpp>
-#include <print>
+#include <omath/engines/OpenGL/Constants.hpp>
-
+#include <omath/engines/OpenGL/Formulas.hpp>
-// #include <glm/glm.hpp>
-
-// #include "glm/ext/matrix_clip_space.hpp"
-// #include "glm/ext/matrix_transform.hpp"
 
 
-TEST(UnitTestOpenGL, Projection)
+TEST(UnitTestOpenGL, ForwardVector)
 {
+    const auto forward = omath::opengl::ForwardVector({});
 
-    /*const auto proj_glm = glm::perspective(glm::radians(90.f), 16.f / 9.f, 0.1f, 1000.f);
+    EXPECT_EQ(forward, omath::opengl::kAbsForward);
-    // const auto proj_glm2 = glm::perspectiveLH_NO(glm::radians(90.f), 16.f / 9.f, 0.1f, 1000.f);
+}
-    // const auto proj_omath = omath::Mat<4, 4, float, omath::MatStoreType::COLUMN_MAJOR>((const float*)&proj_glm);
+
-    // EXPECT_EQ(omath::opengl::PerspectiveProjectionMatrix(90, 16.f / 9.f, 0.1f, 1000.f), proj_omath);
+TEST(UnitTestOpenGL, RightVector)
+{
+    const auto right = omath::opengl::RightVector({});
+
+    EXPECT_EQ(right, omath::opengl::kAbsRight);
+}
+
+TEST(UnitTestOpenGL, UpVector)
+{
+    const auto up = omath::opengl::UpVector({});
+    EXPECT_EQ(up, omath::opengl::kAbsUp);
+}
+
+TEST(UnitTestOpenGL, ProjectTargetMovedFromCamera)
+{
+    constexpr auto fov = omath::projection::FieldOfView::FromDegrees(90.f);
+    auto cam = omath::opengl::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
 
 
-    glm::vec4 ndc_glm2 = proj_glm * glm::vec4(300.f, 0.f, -1000.f, 1.f);
+    for (float distance = -10.f; distance > -1000.f; distance -= 0.01f)
-    ndc_glm2 /= ndc_glm2.w;
-    const omath::Mat<4, 1, float, omath::MatStoreType::COLUMN_MAJOR> cords_omath =
     {
-        {0},
+        const auto projected = cam.WorldToScreen({0, 0, distance});
-        {0},
-        {-0.2f},
-        {1}
-    };
 
-    //auto ndc_omath = proj_omath * cords_omath;
+        EXPECT_TRUE(projected.has_value());
-   // ndc_omath /= ndc_omath.At(3, 0);
+
-    */
+        if (!projected.has_value())
+            continue;
+
+        EXPECT_NEAR(projected->x, 960, 0.00001f);
+        EXPECT_NEAR(projected->y, 540, 0.00001f);
+    }
+}
+
+TEST(UnitTestOpenGL, CameraSetAndGetFov)
+{
+    constexpr auto fov = omath::projection::FieldOfView::FromDegrees(90.f);
+    auto cam = omath::opengl::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    EXPECT_EQ(cam.GetFieldOfView().AsDegrees(), 90.f);
+    cam.SetFieldOfView(omath::projection::FieldOfView::FromDegrees(50.f));
+
+    EXPECT_EQ(cam.GetFieldOfView().AsDegrees(), 50.f);
+}
+
+TEST(UnitTestOpenGL, CameraSetAndGetOrigin)
+{
+    auto cam = omath::opengl::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, {}, 0.01f, 1000.f);
+
+    EXPECT_EQ(cam.GetOrigin(), omath::Vector3{});
+    cam.SetFieldOfView(omath::projection::FieldOfView::FromDegrees(50.f));
+
+    EXPECT_EQ(cam.GetFieldOfView().AsDegrees(), 50.f);
 }

tests/engines/UnitTestSourceEngine.cpp

@@ -3,7 +3,7 @@
 //
 #include <gtest/gtest.h>
 #include <omath/engines/Source/Camera.hpp>
-#include <omath/engines/Source/Constants.h>
+#include <omath/engines/Source/Constants.hpp>
 #include <omath/engines/Source/Formulas.hpp>
 
 
@@ -27,17 +27,15 @@ TEST(UnitTestSourceEngine, UpVector)
     EXPECT_EQ(up, omath::source::kAbsUp);
 }
 
-TEST(UnitTestSourceEngine, PerpectiveProjectionAtCenter)
+TEST(UnitTestSourceEngine, ProjectTargetMovedFromCamera)
 {
     constexpr auto fov = omath::projection::FieldOfView::FromDegrees(90.f);
     auto cam = omath::source::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
 
 
-    const auto viewProjMatrix = cam.GetViewProjectionMatrix();
-
     for (float distance = 0.02f; distance < 1000.f; distance += 0.01f)
     {
-        const auto projected = cam.WorldToScreen(viewProjMatrix, {distance, 0, 0});
+        const auto projected = cam.WorldToScreen({distance, 0, 0});
 
         EXPECT_TRUE(projected.has_value());
 
@@ -47,4 +45,25 @@ TEST(UnitTestSourceEngine, PerpectiveProjectionAtCenter)
         EXPECT_NEAR(projected->x, 960, 0.00001f);
         EXPECT_NEAR(projected->y, 540, 0.00001f);
     }
+}
+
+TEST(UnitTestSourceEngine, CameraSetAndGetFov)
+{
+    constexpr auto fov = omath::projection::FieldOfView::FromDegrees(90.f);
+    auto cam = omath::source::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, fov, 0.01f, 1000.f);
+
+    EXPECT_EQ(cam.GetFieldOfView().AsDegrees(), 90.f);
+    cam.SetFieldOfView(omath::projection::FieldOfView::FromDegrees(50.f));
+
+    EXPECT_EQ(cam.GetFieldOfView().AsDegrees(), 50.f);
+}
+
+TEST(UnitTestSourceEngine, CameraSetAndGetOrigin)
+{
+    auto cam = omath::source::Camera({0, 0, 0}, {}, {1920.f, 1080.f}, {}, 0.01f, 1000.f);
+
+    EXPECT_EQ(cam.GetOrigin(), omath::Vector3{});
+    cam.SetFieldOfView(omath::projection::FieldOfView::FromDegrees(50.f));
+
+    EXPECT_EQ(cam.GetFieldOfView().AsDegrees(), 50.f);
 }

tests/general/UnitTestProjection.cpp

@@ -10,9 +10,9 @@
 
 TEST(UnitTestProjection, Projection)
 {
-    auto x = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::FromDegrees(90.f);
+    const auto x = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::FromDegrees(90.f);
     auto cam = omath::source::Camera({0, 0, 0}, omath::source::ViewAngles{}, {1920.f, 1080.f}, x, 0.01f, 1000.f);
 
-    const auto projected = cam.WorldToScreen(cam.GetViewProjectionMatrix(), {1000, 0, 50});
+    const auto projected = cam.WorldToScreen({1000, 0, 50});
     std::print("{} {} {}", projected->x, projected->y, projected->z);
 }