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remove redundant lookat

pull/3/head
Li Linfeng 2019-11-17 16:09:13 +08:00
parent 11c7374d17
commit c7432f10b2
1 changed files with 6 additions and 28 deletions
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34
src/celengine/observer.cpp
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@ -13,6 +13,7 @@
#include "frametree.h"
#include <celmath/mathlib.h>
#include <celmath/solve.h>
#include <celmath/geomutil.h>
static const double maximumSimTime = 730486721060.00073; // 2000000000 Jan 01 12:00:00 UTC
static const double minimumSimTime = -730498278941.99951; // -2000000000 Jan 01 12:00:00 UTC
@ -235,29 +236,6 @@ void Observer::setAngularVelocity(const Vector3d& v)
}
/*! Determine an orientation that will make the negative z-axis point from
* from the observer to the target, with the y-axis pointing in direction
* of the component of 'up' that is orthogonal to the z-axis.
*/
// TODO: This is a generally useful function that should be moved to
// the celmath package.
template<class T> static Quaternion<T>
lookAt(Matrix<T, 3, 1> from, Matrix<T, 3, 1> to, Matrix<T, 3, 1> up)
{
Matrix<T, 3, 1> n = to - from;
n.normalize();
Matrix<T, 3, 1> v = n.cross(up).normalized();
Matrix<T, 3, 1> u = v.cross(n);
Matrix<T, 3, 3> m;
m.col(0) = v;
m.col(1) = u;
m.col(2) = -n;
return Quaternion<T>(m).conjugate();
}
double Observer::getArrivalTime() const
{
if (observerMode != Travelling)
@ -471,7 +449,7 @@ void Observer::update(double dt, double timeScale)
Vector3d up = getOrientation().conjugate() * Vector3d::UnitY();
Vector3d viewDir = trackObject.getPosition(getTime()).offsetFromKm(getPosition()).normalized();
setOrientation(lookAt<double>(Vector3d::Zero(), viewDir, up));
setOrientation(LookAt<double>(Vector3d::Zero(), viewDir, up));
}
}
@ -587,7 +565,7 @@ void Observer::computeGotoParameters(const Selection& destination,
jparams.initialOrientation = getOrientation();
Vector3d focus = targetPosition.offsetFromKm(jparams.to);
jparams.finalOrientation = lookAt<double>(Vector3d::Zero(), focus, upd);
jparams.finalOrientation = LookAt<double>(Vector3d::Zero(), focus, upd);
jparams.startInterpolation = min(startInter, endInter);
jparams.endInterpolation = max(startInter, endInter);
@ -649,7 +627,7 @@ void Observer::computeGotoParametersGC(const Selection& destination,
jparams.initialOrientation = getOrientation();
Vector3d focus = targetPosition.offsetFromKm(jparams.to);
jparams.finalOrientation = lookAt<double>(Vector3d::Zero(), focus, upd);
jparams.finalOrientation = LookAt<double>(Vector3d::Zero(), focus, upd);
jparams.startInterpolation = min(startInter, endInter);
jparams.endInterpolation = max(startInter, endInter);
@ -686,7 +664,7 @@ void Observer::computeCenterParameters(const Selection& destination,
jparams.initialOrientation = getOrientation();
Vector3d focus = targetPosition.offsetFromKm(jparams.to);
jparams.finalOrientation = lookAt<double>(Vector3d::Zero(), focus, up);
jparams.finalOrientation = LookAt<double>(Vector3d::Zero(), focus, up);
jparams.startInterpolation = 0;
jparams.endInterpolation = 1;
@ -1273,7 +1251,7 @@ void Observer::gotoSurface(const Selection& sel, double duration)
Quaterniond q = orientationUniv;
if (v.dot(viewDir) < 0.0)
{
q = lookAt<double>(Vector3d::Zero(), up, v);
q = LookAt<double>(Vector3d::Zero(), up, v);
}
ObserverFrame frame(ObserverFrame::BodyFixed, sel);