1 // Created on: 2013-05-29
2 // Created by: Anton POLETAEV
3 // Copyright (c) 1999-2014 OPEN CASCADE SAS
5 // This file is part of Open CASCADE Technology software library.
7 // This library is free software; you can redistribute it and/or modify it under
8 // the terms of the GNU Lesser General Public License version 2.1 as published
9 // by the Free Software Foundation, with special exception defined in the file
10 // OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
11 // distribution for complete text of the license and disclaimer of any warranty.
13 // Alternatively, this file may be used under the terms of Open CASCADE
14 // commercial license or contractual agreement.
16 #ifndef _Graphic3d_Camera_HeaderFile
17 #define _Graphic3d_Camera_HeaderFile
19 #include <Aspect_Eye.hxx>
20 #include <Aspect_FrustumLRBT.hxx>
21 #include <Graphic3d_CameraTile.hxx>
22 #include <Graphic3d_Mat4d.hxx>
23 #include <Graphic3d_Mat4.hxx>
24 #include <Graphic3d_Vec3.hxx>
25 #include <Graphic3d_WorldViewProjState.hxx>
26 #include <NCollection_Lerp.hxx>
27 #include <NCollection_Array1.hxx>
32 #include <Standard_Macro.hxx>
33 #include <Standard_TypeDef.hxx>
35 #include <Bnd_Box.hxx>
37 //! Forward declaration
38 class Graphic3d_WorldViewProjState;
40 //! Camera class provides object-oriented approach to setting up projection
41 //! and orientation properties of 3D view.
42 class Graphic3d_Camera : public Standard_Transient
46 //! Template container for cached matrices or Real/ShortReal types.
47 template<typename Elem_t>
48 struct TransformMatrices
51 //! Default constructor.
52 TransformMatrices() : myIsOrientationValid (Standard_False), myIsProjectionValid (Standard_False) {}
54 //! Initialize orientation.
55 void InitOrientation()
57 myIsOrientationValid = Standard_True;
58 Orientation.InitIdentity();
61 //! Initialize projection.
64 myIsProjectionValid = Standard_True;
65 MProjection.InitIdentity();
66 LProjection.InitIdentity();
67 RProjection.InitIdentity();
70 //! Invalidate orientation.
71 void ResetOrientation() { myIsOrientationValid = Standard_False; }
73 //! Invalidate projection.
74 void ResetProjection() { myIsProjectionValid = Standard_False; }
76 //! Return true if Orientation was not invalidated.
77 Standard_Boolean IsOrientationValid() const { return myIsOrientationValid; }
79 //! Return true if Projection was not invalidated.
80 Standard_Boolean IsProjectionValid() const { return myIsProjectionValid; }
82 //! Dumps the content of me into the stream
83 void DumpJson (Standard_OStream& theOStream, Standard_Integer theDepth = -1) const
85 if (IsOrientationValid())
87 OCCT_DUMP_FIELD_VALUES_DUMPED (theOStream, theDepth, &Orientation)
89 if (IsProjectionValid())
91 OCCT_DUMP_FIELD_VALUES_DUMPED (theOStream, theDepth, &MProjection)
92 OCCT_DUMP_FIELD_VALUES_DUMPED (theOStream, theDepth, &LProjection)
93 OCCT_DUMP_FIELD_VALUES_DUMPED (theOStream, theDepth, &RProjection)
95 OCCT_DUMP_FIELD_VALUE_NUMERICAL (theOStream, myIsOrientationValid)
96 OCCT_DUMP_FIELD_VALUE_NUMERICAL (theOStream, myIsProjectionValid)
101 NCollection_Mat4<Elem_t> Orientation;
102 NCollection_Mat4<Elem_t> MProjection;
103 NCollection_Mat4<Elem_t> LProjection;
104 NCollection_Mat4<Elem_t> RProjection;
108 Standard_Boolean myIsOrientationValid;
109 Standard_Boolean myIsProjectionValid;
115 //! Enumerates supported monographic projections.
116 //! - Projection_Orthographic : orthographic projection.
117 //! - Projection_Perspective : perspective projection.
118 //! - Projection_Stereo : stereographic projection.
119 //! - Projection_MonoLeftEye : mono projection for stereo left eye.
120 //! - Projection_MonoRightEye : mono projection for stereo right eye.
123 Projection_Orthographic,
124 Projection_Perspective,
126 Projection_MonoLeftEye,
127 Projection_MonoRightEye
130 //! Enumerates approaches to define stereographic focus.
131 //! - FocusType_Absolute : focus is specified as absolute value.
132 //! - FocusType_Relative : focus is specified relative to
133 //! (as coefficient of) camera focal length.
140 //! Enumerates approaches to define Intraocular distance.
141 //! - IODType_Absolute : Intraocular distance is defined as absolute value.
142 //! - IODType_Relative : Intraocular distance is defined relative to
143 //! (as coefficient of) camera focal length.
152 //! Default constructor.
153 //! Initializes camera with the following properties:
154 //! Eye (0, 0, -2); Center (0, 0, 0); Up (0, 1, 0);
155 //! Type (Orthographic); FOVy (45); Scale (1000); IsStereo(false);
156 //! ZNear (0.001); ZFar (3000.0); Aspect(1);
157 //! ZFocus(1.0); ZFocusType(Relative); IOD(0.05); IODType(Relative)
158 Standard_EXPORT Graphic3d_Camera();
160 //! Copy constructor.
161 //! @param theOther [in] the camera to copy from.
162 Standard_EXPORT Graphic3d_Camera (const Handle(Graphic3d_Camera)& theOther);
164 //! Initialize mapping related parameters from other camera handle.
165 Standard_EXPORT void CopyMappingData (const Handle(Graphic3d_Camera)& theOtherCamera);
167 //! Initialize orientation related parameters from other camera handle.
168 Standard_EXPORT void CopyOrientationData (const Handle(Graphic3d_Camera)& theOtherCamera);
170 //! Copy properties of another camera.
171 //! @param theOther [in] the camera to copy from.
172 Standard_EXPORT void Copy (const Handle(Graphic3d_Camera)& theOther);
174 //! @name Public camera properties
177 //! Get camera look direction.
178 //! @return camera look direction.
179 const gp_Dir& Direction() const { return myDirection; }
181 //! Sets camera look direction preserving the current Eye() position.
182 //! WARNING! This method does NOT verify that the current Up() vector is orthogonal to the new Direction.
183 //! @param theDir [in] the direction.
184 Standard_EXPORT void SetDirectionFromEye (const gp_Dir& theDir);
186 //! Sets camera look direction and computes the new Eye position relative to current Center.
187 //! WARNING! This method does NOT verify that the current Up() vector is orthogonal to the new Direction.
188 //! @param theDir [in] the direction.
189 Standard_EXPORT void SetDirection (const gp_Dir& theDir);
191 //! Get camera Up direction vector.
192 //! @return Camera's Up direction vector.
193 const gp_Dir& Up() const { return myUp; }
195 //! Sets camera Up direction vector, orthogonal to camera direction.
196 //! WARNING! This method does NOT verify that the new Up vector is orthogonal to the current Direction().
197 //! @param theUp [in] the Up direction vector.
198 //! @sa OrthogonalizeUp().
199 Standard_EXPORT void SetUp (const gp_Dir& theUp);
201 //! Orthogonalize up direction vector.
202 Standard_EXPORT void OrthogonalizeUp();
204 //! Return a copy of orthogonalized up direction vector.
205 Standard_EXPORT gp_Dir OrthogonalizedUp() const;
207 //! Right side direction.
208 gp_Dir SideRight() const
210 return -(gp_Vec (Direction()) ^ gp_Vec (OrthogonalizedUp()));
213 //! Get camera Eye position.
214 //! @return camera eye location.
215 const gp_Pnt& Eye() const { return myEye; }
217 //! Sets camera Eye position.
218 //! Unlike SetEye(), this method only changes Eye point and preserves camera direction.
219 //! @param theEye [in] the location of camera's Eye.
221 Standard_EXPORT void MoveEyeTo (const gp_Pnt& theEye);
223 //! Sets camera Eye and Center positions.
224 //! @param theEye [in] the location of camera's Eye
225 //! @param theCenter [in] the location of camera's Center
226 Standard_EXPORT void SetEyeAndCenter (const gp_Pnt& theEye,
227 const gp_Pnt& theCenter);
229 //! Sets camera Eye position.
230 //! WARNING! For backward compatibility reasons, this method also changes view direction,
231 //! so that the new direction is computed from new Eye position to old Center position.
232 //! @param theEye [in] the location of camera's Eye.
233 //! @sa MoveEyeTo(), SetEyeAndCenter()
234 Standard_EXPORT void SetEye (const gp_Pnt& theEye);
236 //! Get Center of the camera, e.g. the point where camera looks at.
237 //! This point is computed as Eye() translated along Direction() at Distance().
238 //! @return the point where the camera looks at.
239 gp_Pnt Center() const
241 return myEye.XYZ() + myDirection.XYZ() * myDistance;
244 //! Sets Center of the camera, e.g. the point where camera looks at.
245 //! This methods changes camera direction, so that the new direction is computed
246 //! from current Eye position to specified Center position.
247 //! @param theCenter [in] the point where the camera looks at.
248 Standard_EXPORT void SetCenter (const gp_Pnt& theCenter);
250 //! Get distance of Eye from camera Center.
251 //! @return the distance.
252 Standard_Real Distance() const { return myDistance; }
254 //! Set distance of Eye from camera Center.
255 //! @param theDistance [in] the distance.
256 Standard_EXPORT void SetDistance (const Standard_Real theDistance);
258 //! Get camera scale.
259 //! @return camera scale factor.
260 Standard_EXPORT Standard_Real Scale() const;
262 //! Sets camera scale. For orthographic projection the scale factor
263 //! corresponds to parallel scale of view mapping (i.e. size
264 //! of viewport). For perspective camera scale is converted to
265 //! distance. The scale specifies equal size of the view projection in
266 //! both dimensions assuming that the aspect is 1.0. The projection height
267 //! and width are specified with the scale and correspondingly multiplied
269 //! @param theScale [in] the scale factor.
270 Standard_EXPORT void SetScale (const Standard_Real theScale);
272 //! Get camera axial scale.
273 //! @return Camera's axial scale.
274 const gp_XYZ& AxialScale() const { return myAxialScale; }
276 //! Set camera axial scale.
277 //! @param theAxialScale [in] the axial scale vector.
278 Standard_EXPORT void SetAxialScale (const gp_XYZ& theAxialScale);
280 //! Change camera projection type.
281 //! When switching to perspective projection from orthographic one,
282 //! the ZNear and ZFar are reset to default values (0.001, 3000.0)
283 //! if less than 0.0.
284 //! @param theProjectionType [in] the camera projection type.
285 Standard_EXPORT void SetProjectionType (const Projection theProjection);
287 //! @return camera projection type.
288 Projection ProjectionType() const
293 //! Check that the camera projection is orthographic.
294 //! @return boolean flag that indicates whether the camera's projection is
295 //! orthographic or not.
296 Standard_Boolean IsOrthographic() const
298 return (myProjType == Projection_Orthographic);
301 //! Check whether the camera projection is stereo.
302 //! Please note that stereo rendering is now implemented with support of
304 //! @return boolean flag indicating whether the stereographic L/R projection
306 Standard_Boolean IsStereo() const
308 return (myProjType == Projection_Stereo);
311 //! Set Field Of View (FOV) in y axis for perspective projection.
312 //! Field of View in x axis is automatically scaled from view aspect ratio.
313 //! @param theFOVy [in] the FOV in degrees.
314 Standard_EXPORT void SetFOVy (const Standard_Real theFOVy);
316 //! Get Field Of View (FOV) in y axis.
317 //! @return the FOV value in degrees.
318 Standard_Real FOVy() const { return myFOVy; }
320 //! Get Field Of View (FOV) in x axis.
321 //! @return the FOV value in degrees.
322 Standard_Real FOVx() const { return myFOVx; }
324 //! Get Field Of View (FOV) restriction for 2D on-screen elements; 180 degrees by default.
325 //! When 2D FOV is smaller than FOVy or FOVx, 2D elements defined within offset from view corner
326 //! will be extended to fit into specified 2D FOV.
327 //! This can be useful to make 2D elements sharply visible, like in case of HMD normally having extra large FOVy.
328 Standard_Real FOV2d() const { return myFOV2d; }
330 //! Set Field Of View (FOV) restriction for 2D on-screen elements.
331 Standard_EXPORT void SetFOV2d (Standard_Real theFOV);
333 //! Estimate Z-min and Z-max planes of projection volume to match the
334 //! displayed objects. The methods ensures that view volume will
335 //! be close by depth range to the displayed objects. Fitting assumes that
336 //! for orthogonal projection the view volume contains the displayed objects
337 //! completely. For zoomed perspective view, the view volume is adjusted such
338 //! that it contains the objects or their parts, located in front of the camera.
339 //! @param theScaleFactor [in] the scale factor for Z-range.
340 //! The range between Z-min, Z-max projection volume planes
341 //! evaluated by z fitting method will be scaled using this coefficient.
342 //! Program error exception is thrown if negative or zero value is passed.
343 //! @param theMinMax [in] applicative min max boundaries.
344 //! @param theScaleFactor [in] real graphical boundaries (not accounting infinite flag).
345 Standard_EXPORT bool ZFitAll (const Standard_Real theScaleFactor,
346 const Bnd_Box& theMinMax,
347 const Bnd_Box& theGraphicBB,
348 Standard_Real& theZNear,
349 Standard_Real& theZFar) const;
351 //! Change Z-min and Z-max planes of projection volume to match the displayed objects.
352 void ZFitAll (const Standard_Real theScaleFactor, const Bnd_Box& theMinMax, const Bnd_Box& theGraphicBB)
354 Standard_Real aZNear = 0.0, aZFar = 1.0;
355 ZFitAll (theScaleFactor, theMinMax, theGraphicBB, aZNear, aZFar);
356 SetZRange (aZNear, aZFar);
359 //! Change the Near and Far Z-clipping plane positions.
360 //! For orthographic projection, theZNear, theZFar can be negative or positive.
361 //! For perspective projection, only positive values are allowed.
362 //! Program error exception is raised if non-positive values are
363 //! specified for perspective projection or theZNear >= theZFar.
364 //! @param theZNear [in] the distance of the plane from the Eye.
365 //! @param theZFar [in] the distance of the plane from the Eye.
366 Standard_EXPORT void SetZRange (const Standard_Real theZNear, const Standard_Real theZFar);
368 //! Get the Near Z-clipping plane position.
369 //! @return the distance of the plane from the Eye.
370 Standard_Real ZNear() const
375 //! Get the Far Z-clipping plane position.
376 //! @return the distance of the plane from the Eye.
377 Standard_Real ZFar() const
382 //! Changes width / height display ratio.
383 //! @param theAspect [in] the display ratio.
384 Standard_EXPORT void SetAspect (const Standard_Real theAspect);
386 //! Get camera display ratio.
387 //! @return display ratio.
388 Standard_Real Aspect() const
393 //! Sets stereographic focus distance.
394 //! @param theType [in] the focus definition type. Focus can be defined
395 //! as absolute value or relatively to (as coefficient of) coefficient of
396 //! camera focal length.
397 //! @param theZFocus [in] the focus absolute value or coefficient depending
398 //! on the passed definition type.
399 Standard_EXPORT void SetZFocus (const FocusType theType, const Standard_Real theZFocus);
401 //! Get stereographic focus value.
402 //! @return absolute or relative stereographic focus value
403 //! depending on its definition type.
404 Standard_Real ZFocus() const
409 //! Get stereographic focus definition type.
410 //! @return definition type used for stereographic focus.
411 FocusType ZFocusType() const
416 //! Sets Intraocular distance.
417 //! @param theType [in] the IOD definition type. IOD can be defined as
418 //! absolute value or relatively to (as coefficient of) camera focal length.
419 //! @param theIOD [in] the Intraocular distance.
420 Standard_EXPORT void SetIOD (const IODType theType, const Standard_Real theIOD);
422 //! Get Intraocular distance value.
423 //! @return absolute or relative IOD value depending on its definition type.
424 Standard_Real IOD() const
429 //! Get Intraocular distance definition type.
430 //! @return definition type used for Intraocular distance.
431 IODType GetIODType() const
436 //! Get current tile.
437 const Graphic3d_CameraTile& Tile() const { return myTile; }
439 //! Sets the Tile defining the drawing sub-area within View.
440 //! Note that tile defining a region outside the view boundaries is also valid - use method Graphic3d_CameraTile::Cropped() to assign a cropped copy.
441 //! @param theTile tile definition
442 Standard_EXPORT void SetTile (const Graphic3d_CameraTile& theTile);
444 //! @name Basic camera operations
447 //! Transform orientation components of the camera:
448 //! Eye, Up and Center points.
449 //! @param theTrsf [in] the transformation to apply.
450 Standard_EXPORT void Transform (const gp_Trsf& theTrsf);
452 //! Calculate view plane size at center (target) point
453 //! and distance between ZFar and ZNear planes.
454 //! @return values in form of gp_Pnt (Width, Height, Depth).
455 gp_XYZ ViewDimensions() const
457 return ViewDimensions (Distance());
460 //! Calculate view plane size at center point with specified Z offset
461 //! and distance between ZFar and ZNear planes.
462 //! @param theZValue [in] the distance from the eye in eye-to-center direction
463 //! @return values in form of gp_Pnt (Width, Height, Depth).
464 Standard_EXPORT gp_XYZ ViewDimensions (const Standard_Real theZValue) const;
466 //! Return offset to the view corner in NDC space within dimension X for 2d on-screen elements, which is normally 0.5.
467 //! Can be clamped when FOVx exceeds FOV2d.
468 Standard_Real NDC2dOffsetX() const
470 return myFOV2d >= myFOVx
472 : 0.5 * myFOV2d / myFOVx;
475 //! Return offset to the view corner in NDC space within dimension X for 2d on-screen elements, which is normally 0.5.
476 //! Can be clamped when FOVy exceeds FOV2d.
477 Standard_Real NDC2dOffsetY() const
479 return myFOV2d >= myFOVy
481 : 0.5 * myFOV2d / myFOVy;
484 //! Calculate WCS frustum planes for the camera projection volume.
485 //! Frustum is a convex volume determined by six planes directing
487 //! The frustum planes are usually used as inputs for camera algorithms.
488 //! Thus, if any changes to projection matrix calculation are necessary,
489 //! the frustum planes calculation should be also touched.
490 //! @param theLeft [out] the frustum plane for left side of view.
491 //! @param theRight [out] the frustum plane for right side of view.
492 //! @param theBottom [out] the frustum plane for bottom side of view.
493 //! @param theTop [out] the frustum plane for top side of view.
494 //! @param theNear [out] the frustum plane for near side of view.
495 //! @param theFar [out] the frustum plane for far side of view.
496 Standard_EXPORT void Frustum (gp_Pln& theLeft,
501 gp_Pln& theFar) const;
503 //! @name Projection methods
506 //! Project point from world coordinate space to
507 //! normalized device coordinates (mapping).
508 //! @param thePnt [in] the 3D point in WCS.
509 //! @return mapped point in NDC.
510 Standard_EXPORT gp_Pnt Project (const gp_Pnt& thePnt) const;
512 //! Unproject point from normalized device coordinates
513 //! to world coordinate space.
514 //! @param thePnt [in] the NDC point.
515 //! @return 3D point in WCS.
516 Standard_EXPORT gp_Pnt UnProject (const gp_Pnt& thePnt) const;
518 //! Convert point from view coordinate space to
519 //! projection coordinate space.
520 //! @param thePnt [in] the point in VCS.
521 //! @return point in NDC.
522 Standard_EXPORT gp_Pnt ConvertView2Proj (const gp_Pnt& thePnt) const;
524 //! Convert point from projection coordinate space
525 //! to view coordinate space.
526 //! @param thePnt [in] the point in NDC.
527 //! @return point in VCS.
528 Standard_EXPORT gp_Pnt ConvertProj2View (const gp_Pnt& thePnt) const;
530 //! Convert point from world coordinate space to
531 //! view coordinate space.
532 //! @param thePnt [in] the 3D point in WCS.
533 //! @return point in VCS.
534 Standard_EXPORT gp_Pnt ConvertWorld2View (const gp_Pnt& thePnt) const;
536 //! Convert point from view coordinate space to
537 //! world coordinates.
538 //! @param thePnt [in] the 3D point in VCS.
539 //! @return point in WCS.
540 Standard_EXPORT gp_Pnt ConvertView2World (const gp_Pnt& thePnt) const;
542 //! @name Camera modification state
545 //! @return projection modification state of the camera.
546 const Graphic3d_WorldViewProjState& WorldViewProjState() const
548 return myWorldViewProjState;
552 //! Returns modification state of camera projection matrix
553 Standard_Size ProjectionState() const
555 return myWorldViewProjState.ProjectionState();
558 //! Returns modification state of camera world view transformation matrix.
559 Standard_Size WorldViewState() const
561 return myWorldViewProjState.WorldViewState();
564 //! @name Lazily-computed orientation and projection matrices derived from camera parameters
567 //! Get orientation matrix.
568 //! @return camera orientation matrix.
569 Standard_EXPORT const Graphic3d_Mat4d& OrientationMatrix() const;
571 //! Get orientation matrix of Standard_ShortReal precision.
572 //! @return camera orientation matrix.
573 Standard_EXPORT const Graphic3d_Mat4& OrientationMatrixF() const;
575 //! Get monographic or middle point projection matrix used for monographic
576 //! rendering and for point projection / unprojection.
577 //! @return monographic projection matrix.
578 Standard_EXPORT const Graphic3d_Mat4d& ProjectionMatrix() const;
580 //! Get monographic or middle point projection matrix of Standard_ShortReal precision used for monographic
581 //! rendering and for point projection / unprojection.
582 //! @return monographic projection matrix.
583 Standard_EXPORT const Graphic3d_Mat4& ProjectionMatrixF() const;
585 //! @return stereographic matrix computed for left eye. Please note
586 //! that this method is used for rendering for <i>Projection_Stereo</i>.
587 Standard_EXPORT const Graphic3d_Mat4d& ProjectionStereoLeft() const;
589 //! @return stereographic matrix of Standard_ShortReal precision computed for left eye.
590 //! Please note that this method is used for rendering for <i>Projection_Stereo</i>.
591 Standard_EXPORT const Graphic3d_Mat4& ProjectionStereoLeftF() const;
593 //! @return stereographic matrix computed for right eye. Please note
594 //! that this method is used for rendering for <i>Projection_Stereo</i>.
595 Standard_EXPORT const Graphic3d_Mat4d& ProjectionStereoRight() const;
597 //! @return stereographic matrix of Standard_ShortReal precision computed for right eye.
598 //! Please note that this method is used for rendering for <i>Projection_Stereo</i>.
599 Standard_EXPORT const Graphic3d_Mat4& ProjectionStereoRightF() const;
601 //! Invalidate state of projection matrix.
602 //! The matrix will be updated on request.
603 Standard_EXPORT void InvalidateProjection();
605 //! Invalidate orientation matrix.
606 //! The matrix will be updated on request.
607 Standard_EXPORT void InvalidateOrientation();
611 //! Get stereo projection matrices.
612 //! @param theProjL [out] left eye projection matrix
613 //! @param theHeadToEyeL [out] left head to eye translation matrix
614 //! @param theProjR [out] right eye projection matrix
615 //! @param theHeadToEyeR [out] right head to eye translation matrix
616 Standard_EXPORT void StereoProjection (Graphic3d_Mat4d& theProjL,
617 Graphic3d_Mat4d& theHeadToEyeL,
618 Graphic3d_Mat4d& theProjR,
619 Graphic3d_Mat4d& theHeadToEyeR) const;
621 //! Get stereo projection matrices.
622 //! @param theProjL [out] left eye projection matrix
623 //! @param theHeadToEyeL [out] left head to eye translation matrix
624 //! @param theProjR [out] right eye projection matrix
625 //! @param theHeadToEyeR [out] right head to eye translation matrix
626 Standard_EXPORT void StereoProjectionF (Graphic3d_Mat4& theProjL,
627 Graphic3d_Mat4& theHeadToEyeL,
628 Graphic3d_Mat4& theProjR,
629 Graphic3d_Mat4& theHeadToEyeR) const;
631 //! Unset all custom frustums and projection matrices.
632 Standard_EXPORT void ResetCustomProjection();
634 //! Return TRUE if custom stereo frustums are set.
635 bool IsCustomStereoFrustum() const { return myIsCustomFrustomLR; }
637 //! Set custom stereo frustums.
638 //! These can be retrieved from APIs like OpenVR.
639 Standard_EXPORT void SetCustomStereoFrustums (const Aspect_FrustumLRBT<Standard_Real>& theFrustumL,
640 const Aspect_FrustumLRBT<Standard_Real>& theFrustumR);
642 //! Return TRUE if custom stereo projection matrices are set.
643 bool IsCustomStereoProjection() const { return myIsCustomProjMatLR; }
645 //! Set custom stereo projection matrices.
646 //! @param theProjL [in] left eye projection matrix
647 //! @param theHeadToEyeL [in] left head to eye translation matrix
648 //! @param theProjR [in] right eye projection matrix
649 //! @param theHeadToEyeR [in] right head to eye translation matrix
650 Standard_EXPORT void SetCustomStereoProjection (const Graphic3d_Mat4d& theProjL,
651 const Graphic3d_Mat4d& theHeadToEyeL,
652 const Graphic3d_Mat4d& theProjR,
653 const Graphic3d_Mat4d& theHeadToEyeR);
655 //! Return TRUE if custom projection matrix is set.
656 bool IsCustomMonoProjection() const { return myIsCustomProjMatM; }
658 //! Set custom projection matrix.
659 Standard_EXPORT void SetCustomMonoProjection (const Graphic3d_Mat4d& theProj);
661 //! Dumps the content of me into the stream
662 Standard_EXPORT void DumpJson (Standard_OStream& theOStream, Standard_Integer theDepth = -1) const;
664 //! @name Managing projection and orientation cache
667 //! Get stereo projection matrices.
668 //! @param theProjL [out] left eye projection matrix
669 //! @param theHeadToEyeL [out] left head to eye translation matrix
670 //! @param theProjR [out] right eye projection matrix
671 //! @param theHeadToEyeR [out] right head to eye translation matrix
672 template <typename Elem_t>
673 Standard_EXPORT void stereoProjection (NCollection_Mat4<Elem_t>& theProjL,
674 NCollection_Mat4<Elem_t>& theHeadToEyeL,
675 NCollection_Mat4<Elem_t>& theProjR,
676 NCollection_Mat4<Elem_t>& theHeadToEyeR) const;
678 //! Compute projection matrices.
679 //! @param theProjM [out] mono projection matrix
680 //! @param theProjL [out] left eye projection matrix
681 //! @param theProjR [out] right eye projection matrix
682 //! @param theToAddHeadToEye [in] flag to pre-multiply head-to-eye translation
683 template <typename Elem_t>
684 Standard_EXPORT void computeProjection (NCollection_Mat4<Elem_t>& theProjM,
685 NCollection_Mat4<Elem_t>& theProjL,
686 NCollection_Mat4<Elem_t>& theProjR,
687 bool theToAddHeadToEye) const;
689 //! Compute projection matrices.
690 //! @param theMatrices [in] the matrices data container.
691 template <typename Elem_t>
692 TransformMatrices<Elem_t>& UpdateProjection (TransformMatrices<Elem_t>& theMatrices) const
694 if (!theMatrices.IsProjectionValid())
696 theMatrices.InitProjection();
697 computeProjection (theMatrices.MProjection, theMatrices.LProjection, theMatrices.RProjection, true);
702 //! Compute orientation matrix.
703 //! @param theMatrices [in] the matrices data container.
704 template <typename Elem_t>
706 TransformMatrices<Elem_t>& UpdateOrientation (TransformMatrices<Elem_t>& theMatrices) const;
710 //! Compose orthographic projection matrix for the passed camera volume mapping.
711 //! @param theOutMx [out] the projection matrix
712 //! @param theLRBT [in] the left/right/bottom/top mapping (clipping) coordinates
713 //! @param theNear [in] the near mapping (clipping) coordinate
714 //! @param theFar [in] the far mapping (clipping) coordinate
715 template <typename Elem_t>
716 static void orthoProj (NCollection_Mat4<Elem_t>& theOutMx,
717 const Aspect_FrustumLRBT<Elem_t>& theLRBT,
718 const Elem_t theNear,
719 const Elem_t theFar);
721 //! Compose perspective projection matrix for the passed camera volume mapping.
722 //! @param theOutMx [out] the projection matrix
723 //! @param theLRBT [in] the left/right/bottom/top mapping (clipping) coordinates
724 //! @param theNear [in] the near mapping (clipping) coordinate
725 //! @param theFar [in] the far mapping (clipping) coordinate
726 template <typename Elem_t>
727 static void perspectiveProj (NCollection_Mat4<Elem_t>& theOutMx,
728 const Aspect_FrustumLRBT<Elem_t>& theLRBT,
729 const Elem_t theNear,
730 const Elem_t theFar);
732 //! Compose projection matrix for L/R stereo eyes.
733 //! @param theOutMx [out] the projection matrix
734 //! @param theLRBT [in] the left/right/bottom/top mapping (clipping) coordinates
735 //! @param theNear [in] the near mapping (clipping) coordinate
736 //! @param theFar [in] the far mapping (clipping) coordinate
737 //! @param theIOD [in] the Intraocular distance
738 //! @param theZFocus [in] the z coordinate of off-axis projection plane with zero parallax
739 //! @param theEyeIndex [in] choose between L/R eyes
740 template <typename Elem_t>
741 static void stereoEyeProj (NCollection_Mat4<Elem_t>& theOutMx,
742 const Aspect_FrustumLRBT<Elem_t>& theLRBT,
743 const Elem_t theNear,
746 const Elem_t theZFocus,
747 const Aspect_Eye theEyeIndex);
749 //! Construct "look at" orientation transformation.
750 //! Reference point differs for perspective and ortho modes
751 //! (made for compatibility, to be improved..).
752 //! @param theEye [in] the eye coordinates in 3D space.
753 //! @param theFwdDir [in] view direction
754 //! @param theUpDir [in] the up direction vector.
755 //! @param theAxialScale [in] the axial scale vector.
756 //! @param theOutMx [in/out] the orientation matrix.
757 template <typename Elem_t>
759 LookOrientation (const NCollection_Vec3<Elem_t>& theEye,
760 const NCollection_Vec3<Elem_t>& theFwdDir,
761 const NCollection_Vec3<Elem_t>& theUpDir,
762 const NCollection_Vec3<Elem_t>& theAxialScale,
763 NCollection_Mat4<Elem_t>& theOutMx);
767 //! Enumerates vertices of view volume.
770 FrustumVert_LeftBottomNear,
771 FrustumVert_LeftBottomFar,
772 FrustumVert_LeftTopNear,
773 FrustumVert_LeftTopFar,
774 FrustumVert_RightBottomNear,
775 FrustumVert_RightBottomFar,
776 FrustumVert_RightTopNear,
777 FrustumVert_RightTopFar,
781 //! Fill array of current view frustum corners.
782 //! The size of this array is equal to FrustumVerticesNB.
783 //! The order of vertices is as defined in FrustumVert_* enumeration.
784 Standard_EXPORT void FrustumPoints (NCollection_Array1<Graphic3d_Vec3d>& thePoints,
785 const Graphic3d_Mat4d& theModelWorld = Graphic3d_Mat4d()) const;
789 gp_Dir myUp; //!< Camera up direction vector
790 gp_Dir myDirection;//!< Camera view direction (from eye)
791 gp_Pnt myEye; //!< Camera eye position
792 Standard_Real myDistance; //!< distance from Eye to Center
794 gp_XYZ myAxialScale; //!< World axial scale.
796 Projection myProjType; //!< Projection type used for rendering.
797 Standard_Real myFOVy; //!< Field Of View in y axis.
798 Standard_Real myFOVx; //!< Field Of View in x axis.
799 Standard_Real myFOV2d; //!< Field Of View limit for 2d on-screen elements
800 Standard_Real myFOVyTan; //!< Field Of View as Tan(DTR_HALF * myFOVy)
801 Standard_Real myZNear; //!< Distance to near clipping plane.
802 Standard_Real myZFar; //!< Distance to far clipping plane.
803 Standard_Real myAspect; //!< Width to height display ratio.
805 Standard_Real myScale; //!< Specifies parallel scale for orthographic projection.
806 Standard_Real myZFocus; //!< Stereographic focus value.
807 FocusType myZFocusType; //!< Stereographic focus definition type.
809 Standard_Real myIOD; //!< Intraocular distance value.
810 IODType myIODType; //!< Intraocular distance definition type.
812 Graphic3d_CameraTile myTile;//!< Tile defining sub-area for drawing
814 Graphic3d_Mat4d myCustomProjMatM;
815 Graphic3d_Mat4d myCustomProjMatL;
816 Graphic3d_Mat4d myCustomProjMatR;
817 Graphic3d_Mat4d myCustomHeadToEyeMatL;
818 Graphic3d_Mat4d myCustomHeadToEyeMatR;
819 Aspect_FrustumLRBT<Standard_Real> myCustomFrustumL; //!< left custom frustum
820 Aspect_FrustumLRBT<Standard_Real> myCustomFrustumR; //!< right custom frustum
821 Standard_Boolean myIsCustomProjMatM; //!< flag indicating usage of custom projection matrix
822 Standard_Boolean myIsCustomProjMatLR; //!< flag indicating usage of custom stereo projection matrices
823 Standard_Boolean myIsCustomFrustomLR; //!< flag indicating usage of custom stereo frustums
825 mutable TransformMatrices<Standard_Real> myMatricesD;
826 mutable TransformMatrices<Standard_ShortReal> myMatricesF;
828 mutable Graphic3d_WorldViewProjState myWorldViewProjState;
832 DEFINE_STANDARD_RTTIEXT(Graphic3d_Camera,Standard_Transient)
835 DEFINE_STANDARD_HANDLE (Graphic3d_Camera, Standard_Transient)
837 //! Linear interpolation tool for camera orientation and position.
838 //! This tool interpolates camera parameters scale, eye, center, rotation (up and direction vectors) independently.
840 //! Eye/Center interpolation is performed through defining an anchor point in-between Center and Eye.
841 //! The anchor position is defined as point near to the camera point which has smaller translation part.
842 //! The main idea is to keep the distance between Center and Eye
843 //! (which will change if Center and Eye translation will be interpolated independently).
845 //! - When both Center and Eye are moved at the same vector -> both will be just translated by straight line
846 //! - When Center is not moved -> camera Eye will move around Center through arc
847 //! - When Eye is not moved -> camera Center will move around Eye through arc
848 //! - When both Center and Eye are move by different vectors -> transformation will be something in between,
849 //! and will try interpolate linearly the distance between Center and Eye.
851 //! This transformation might be not in line with user expectations.
852 //! In this case, application might define intermediate camera positions for interpolation
853 //! or implement own interpolation logic.
855 Standard_EXPORT void NCollection_Lerp<Handle(Graphic3d_Camera)>::Interpolate (const double theT,
856 Handle(Graphic3d_Camera)& theResult) const;
857 typedef NCollection_Lerp<Handle(Graphic3d_Camera)> Graphic3d_CameraLerp;