fix

include/omath/algorithm/radar.hpp

@@ -13,11 +13,16 @@ namespace omath::algorithm
     Vector3<float> world_to_radar(const Camera& camera, const Vector3<FloatingType>& position, const FloatingType scale)
     {
         const auto origin = static_cast<Vector3<FloatingType>>(camera.get_origin());
-        const auto forward = static_cast<Vector3<FloatingType>>(camera.get_abs_forward());
+        auto current_angles = camera.get_view_angles();
-        const auto right = static_cast<Vector3<FloatingType>>(camera.get_abs_right());
+        auto look_at_angles = camera.calc_look_at_angles(position);
-        const auto direction = position - origin;
+        auto yaw = look_at_angles.yaw - current_angles.yaw;
 
-        return {static_cast<float>(direction.dot(right) * scale), static_cast<float>(-direction.dot(forward) * scale),
+        const auto right = origin + static_cast<Vector3<FloatingType>>(camera.get_abs_right());
-                0.f};
+        auto right_yaw = camera.calc_look_at_angles(right).yaw - current_angles.yaw;
+        const auto right_sign = right_yaw.sin() < FloatingType{0} ? FloatingType{-1} : FloatingType{1};
+        const auto radar_distance = position.distance_to(origin) * scale;
+
+        return {static_cast<float>(yaw.sin() * right_sign * radar_distance),
+                static_cast<float>(-yaw.cos() * radar_distance), 0.f};
     }
 } // namespace omath::algorithm

tests/general/unit_test_radar.cpp

@@ -12,7 +12,8 @@
 using namespace omath;
 
 template<class CameraType, class NumericType>
-static void verify_world_to_radar_uses_camera_axes()
+static void verify_world_to_radar_uses_engine_world_axes(const Vector3<NumericType>& world_forward,
+                                                         const Vector3<NumericType>& world_right)
 {
     const Vector3<NumericType> origin{NumericType{10}, NumericType{-20}, NumericType{5}};
     const NumericType world_distance = NumericType{20};
@@ -23,14 +24,14 @@ static void verify_world_to_radar_uses_camera_axes()
             origin,           {}, {1280.f, 720.f}, projection::FieldOfView::from_degrees(90.f), NumericType{0.01},
             NumericType{1000}};
 
-    const auto forward_position = origin + camera.get_abs_forward() * world_distance;
+    const auto forward_position = origin + world_forward * world_distance;
     const auto forward_radar = algorithm::world_to_radar(camera, forward_position, scale);
 
     EXPECT_NEAR(forward_radar.x, 0.f, 1e-4f);
     EXPECT_NEAR(forward_radar.y, -radar_distance, 1e-4f);
     EXPECT_NEAR(forward_radar.z, 0.f, 1e-6f);
 
-    const auto right_position = origin + camera.get_abs_right() * world_distance;
+    const auto right_position = origin + world_right * world_distance;
     const auto right_radar = algorithm::world_to_radar(camera, right_position, scale);
 
     EXPECT_NEAR(right_radar.x, radar_distance, 1e-4f);
@@ -38,42 +39,131 @@ static void verify_world_to_radar_uses_camera_axes()
     EXPECT_NEAR(right_radar.z, 0.f, 1e-6f);
 }
 
+template<class CameraType, class NumericType>
+static void verify_world_to_radar_uses_changed_camera_yaw(const float yaw_degrees,
+                                                          const Vector3<NumericType>& world_forward,
+                                                          const Vector3<NumericType>& world_right)
+{
+    const Vector3<NumericType> origin{NumericType{10}, NumericType{-20}, NumericType{5}};
+    const NumericType world_distance = NumericType{20};
+    const NumericType scale = NumericType{0.5};
+    const auto radar_distance = static_cast<float>(world_distance * scale);
+
+    CameraType camera{
+            origin,           {}, {1280.f, 720.f}, projection::FieldOfView::from_degrees(90.f), NumericType{0.01},
+            NumericType{1000}};
+
+    auto angles = camera.get_view_angles();
+    angles.yaw = decltype(angles.yaw)::from_degrees(yaw_degrees);
+    camera.set_view_angles(angles);
+
+    const auto forward_position = origin + world_right * world_distance;
+    const auto forward_radar = algorithm::world_to_radar(camera, forward_position, scale);
+
+    EXPECT_NEAR(forward_radar.x, 0.f, 1e-4f);
+    EXPECT_NEAR(forward_radar.y, -radar_distance, 1e-4f);
+    EXPECT_NEAR(forward_radar.z, 0.f, 1e-6f);
+
+    const auto left_position = origin + world_forward * world_distance;
+    const auto left_radar = algorithm::world_to_radar(camera, left_position, scale);
+
+    EXPECT_NEAR(left_radar.x, -radar_distance, 1e-4f);
+    EXPECT_NEAR(left_radar.y, 0.f, 1e-4f);
+    EXPECT_NEAR(left_radar.z, 0.f, 1e-6f);
+}
+
+template<class CameraType, class NumericType>
+static void verify_world_to_radar_ignores_camera_pitch(const Vector3<NumericType>& world_forward)
+{
+    const Vector3<NumericType> origin{NumericType{10}, NumericType{-20}, NumericType{5}};
+    const NumericType world_distance = NumericType{20};
+    const NumericType scale = NumericType{0.5};
+    const auto radar_distance = static_cast<float>(world_distance * scale);
+
+    CameraType camera{
+            origin,           {}, {1280.f, 720.f}, projection::FieldOfView::from_degrees(90.f), NumericType{0.01},
+            NumericType{1000}};
+
+    auto angles = camera.get_view_angles();
+    angles.pitch = decltype(angles.pitch)::from_degrees(45.f);
+    camera.set_view_angles(angles);
+
+    const auto forward_position = origin + world_forward * world_distance;
+    const auto forward_radar = algorithm::world_to_radar(camera, forward_position, scale);
+
+    EXPECT_NEAR(forward_radar.x, 0.f, 1e-4f);
+    EXPECT_NEAR(forward_radar.y, -radar_distance, 1e-4f);
+    EXPECT_NEAR(forward_radar.z, 0.f, 1e-6f);
+}
+
 TEST(WorldToRadarTests, SourceEngineCamera)
 {
-    verify_world_to_radar_uses_camera_axes<source_engine::Camera, float>();
+    verify_world_to_radar_uses_engine_world_axes<source_engine::Camera, float>(source_engine::k_abs_forward,
+                                                                               source_engine::k_abs_right);
+    verify_world_to_radar_uses_changed_camera_yaw<source_engine::Camera, float>(-90.f, source_engine::k_abs_forward,
+                                                                                source_engine::k_abs_right);
+    verify_world_to_radar_ignores_camera_pitch<source_engine::Camera, float>(source_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, IWEngineCamera)
 {
-    verify_world_to_radar_uses_camera_axes<iw_engine::Camera, float>();
+    verify_world_to_radar_uses_engine_world_axes<iw_engine::Camera, float>(iw_engine::k_abs_forward,
+                                                                           iw_engine::k_abs_right);
+    verify_world_to_radar_uses_changed_camera_yaw<iw_engine::Camera, float>(-90.f, iw_engine::k_abs_forward,
+                                                                            iw_engine::k_abs_right);
+    verify_world_to_radar_ignores_camera_pitch<iw_engine::Camera, float>(iw_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, FrostbiteEngineCamera)
 {
-    verify_world_to_radar_uses_camera_axes<frostbite_engine::Camera, float>();
+    verify_world_to_radar_uses_engine_world_axes<frostbite_engine::Camera, float>(frostbite_engine::k_abs_forward,
+                                                                                  frostbite_engine::k_abs_right);
+    verify_world_to_radar_uses_changed_camera_yaw<frostbite_engine::Camera, float>(
+            90.f, frostbite_engine::k_abs_forward, frostbite_engine::k_abs_right);
+    verify_world_to_radar_ignores_camera_pitch<frostbite_engine::Camera, float>(frostbite_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, OpenGLEngineCamera)
 {
-    verify_world_to_radar_uses_camera_axes<opengl_engine::Camera, float>();
+    verify_world_to_radar_uses_engine_world_axes<opengl_engine::Camera, float>(opengl_engine::k_abs_forward,
+                                                                               opengl_engine::k_abs_right);
+    verify_world_to_radar_uses_changed_camera_yaw<opengl_engine::Camera, float>(-90.f, opengl_engine::k_abs_forward,
+                                                                                opengl_engine::k_abs_right);
+    verify_world_to_radar_ignores_camera_pitch<opengl_engine::Camera, float>(opengl_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, UnityEngineCamera)
 {
-    verify_world_to_radar_uses_camera_axes<unity_engine::Camera, float>();
+    verify_world_to_radar_uses_engine_world_axes<unity_engine::Camera, float>(unity_engine::k_abs_forward,
+                                                                              unity_engine::k_abs_right);
+    verify_world_to_radar_uses_changed_camera_yaw<unity_engine::Camera, float>(90.f, unity_engine::k_abs_forward,
+                                                                               unity_engine::k_abs_right);
+    verify_world_to_radar_ignores_camera_pitch<unity_engine::Camera, float>(unity_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, CryEngineCamera)
 {
-    verify_world_to_radar_uses_camera_axes<cry_engine::Camera, float>();
+    verify_world_to_radar_uses_engine_world_axes<cry_engine::Camera, float>(cry_engine::k_abs_forward,
+                                                                            cry_engine::k_abs_right);
+    verify_world_to_radar_uses_changed_camera_yaw<cry_engine::Camera, float>(-90.f, cry_engine::k_abs_forward,
+                                                                             cry_engine::k_abs_right);
+    verify_world_to_radar_ignores_camera_pitch<cry_engine::Camera, float>(cry_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, RageEngineCamera)
 {
-    verify_world_to_radar_uses_camera_axes<rage_engine::Camera, float>();
+    verify_world_to_radar_uses_engine_world_axes<rage_engine::Camera, float>(rage_engine::k_abs_forward,
+                                                                             rage_engine::k_abs_right);
+    verify_world_to_radar_uses_changed_camera_yaw<rage_engine::Camera, float>(-90.f, rage_engine::k_abs_forward,
+                                                                              rage_engine::k_abs_right);
+    verify_world_to_radar_ignores_camera_pitch<rage_engine::Camera, float>(rage_engine::k_abs_forward);
 }
 
 TEST(WorldToRadarTests, UnrealEngineCamera)
 {
-    verify_world_to_radar_uses_camera_axes<unreal_engine::Camera, double>();
+    verify_world_to_radar_uses_engine_world_axes<unreal_engine::Camera, double>(unreal_engine::k_abs_forward,
+                                                                                unreal_engine::k_abs_right);
+    verify_world_to_radar_uses_changed_camera_yaw<unreal_engine::Camera, double>(90.f, unreal_engine::k_abs_forward,
+                                                                                 unreal_engine::k_abs_right);
+    verify_world_to_radar_ignores_camera_pitch<unreal_engine::Camera, double>(unreal_engine::k_abs_forward);
 }