Skip to content

Fix lookAt functions #1

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
portaloffreedom wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Fix lookAt functions #1

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
34 changes: 17 additions & 17 deletions include/eigen_graphics/all.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -399,52 +399,52 @@ Eigen::Matrix<typename Derived::Scalar, 4, 4, Derived::Options> rotateLh(const E
// BEGIN: view matrix creation functions
// ----------------------------------------------------------------------------

template <typename Derived>
Eigen::Matrix<typename Derived::Scalar, 4, 4, Derived::Options> lookAtRh(const Eigen::MatrixBase<Derived>& eye,
const Eigen::MatrixBase<Derived>& target,
const Eigen::MatrixBase<Derived>& worldUp) {
template <typename Derived, StorageOptions Options = StorageOptions::ColMajor>
Eigen::Matrix<typename Derived::Scalar, 4, 4, Options> lookAtRh(const Eigen::MatrixBase<Derived>& eye,
const Eigen::MatrixBase<Derived>& target,
const Eigen::MatrixBase<Derived>& worldUp) {
static_assert(Derived::RowsAtCompileTime == 3 && Derived::ColsAtCompileTime == 1, "lookAtRh requires 3x1 vectors.");

using Scalar = typename Derived::Scalar;
using Vector3 = Eigen::Matrix<Scalar, 3, 1, Derived::Options>;
using Matrix4 = Eigen::Matrix<Scalar, 4, 4, Derived::Options>;
using Vector3 = Eigen::Matrix<Scalar, 3, 1, ::Eigen::ColMajor>;
using Matrix4 = Eigen::Matrix<Scalar, 4, 4, Options>;

Vector3 f = (target - eye).normalized();
Vector3 f = (eye - target).normalized();
Vector3 r = worldUp.cross(f).normalized();
Vector3 u = f.cross(r);

Matrix4 viewMatrix;

if constexpr (Derived::Options == Eigen::RowMajor) {
if constexpr (Options == Eigen::RowMajor) {
// clang-format off
viewMatrix <<
r.x(), u.x(), -f.x(), Scalar(0),
r.y(), u.y(), -f.y(), Scalar(0),
r.z(), u.z(), -f.z(), Scalar(0),
r.x(), u.x(), f.x(), Scalar(0),
r.y(), u.y(), f.y(), Scalar(0),
r.z(), u.z(), f.z(), Scalar(0),
-r.dot(eye), -u.dot(eye), -f.dot(eye), Scalar(1);
// clang-format on
} else if constexpr (Derived::Options == Eigen::ColMajor) {
} else if constexpr (Options == Eigen::ColMajor) {
// clang-format off
viewMatrix <<
r.x(), r.y(), r.z(), -r.dot(eye),
u.x(), u.y(), u.z(), -u.dot(eye),
-f.x(), -f.y(), -f.z(), -f.dot(eye),
f.x(), f.y(), f.z(), -f.dot(eye),
Scalar(0), Scalar(0), Scalar(0), Scalar(1);
// clang-format on
}

return viewMatrix;
}

template <typename Derived>
template <typename Derived, StorageOptions Options = StorageOptions::ColMajor>
Eigen::Matrix<typename Derived::Scalar, 4, 4, Derived::Options> lookAtLh(const Eigen::MatrixBase<Derived>& eye,
const Eigen::MatrixBase<Derived>& target,
const Eigen::MatrixBase<Derived>& worldUp) {
static_assert(Derived::RowsAtCompileTime == 3 && Derived::ColsAtCompileTime == 1, "lookAtLh requires 3x1 vectors.");

using Scalar = typename Derived::Scalar;
using Vector3 = Eigen::Matrix<Scalar, 3, 1, Derived::Options>;
using Matrix4 = Eigen::Matrix<Scalar, 4, 4, Derived::Options>;
using Vector3 = Eigen::Matrix<Scalar, 3, 1, ::Eigen::ColMajor>;
using Matrix4 = Eigen::Matrix<Scalar, 4, 4, Options>;

Vector3 f = (target - eye).normalized();
Vector3 r = worldUp.cross(f).normalized();
Expand Down Expand Up @@ -1448,4 +1448,4 @@ Eigen::Matrix<T, 3, 1, Options> transformVector(const Eigen::Matrix<T, 3, 1, Opt
} // namespace Graphics
} // namespace Eigen

#endif // EIGEN_GRAPHICS_MODULE_H
#endif // EIGEN_GRAPHICS_MODULE_H