--- /dev/null
+#include <cmath>
+#include "camera.h"
+#include "matrix.h"
+
+namespace Msp {
+namespace GL {
+
+Camera::Camera():
+ fov(Geometry::Angle<float>::from_turns(0.125)),
+ height(0),
+ aspect(4.0/3.0),
+ clip_near(0.1),
+ clip_far(10),
+ frustum_x(0),
+ frustum_y(0),
+ position(0, 0, 0),
+ look_dir(0, 0, -1),
+ up_dir(0, 1, 0)
+{
+ update_projection_matrix();
+ update_object_matrix();
+}
+
+void Camera::set_field_of_view(const Geometry::Angle<float> &f)
+{
+ fov = f;
+ update_projection_matrix();
+}
+
+void Camera::set_orthographic(float w, float h)
+{
+ fov = Geometry::Angle<float>::zero();
+ height = h;
+ if(w)
+ aspect = w/h;
+ update_projection_matrix();
+}
+
+void Camera::set_aspect_ratio(float a)
+{
+ aspect = a;
+ update_projection_matrix();
+}
+
+void Camera::set_depth_clip(float n, float f)
+{
+ clip_near = n;
+ clip_far = f;
+ update_projection_matrix();
+}
+
+void Camera::set_frustum_axis(float x, float y)
+{
+ frustum_x = x;
+ frustum_y = y;
+ update_projection_matrix();
+}
+
+void Camera::set_frustum_rotation(const Geometry::Angle<float> &r)
+{
+ rotate = r;
+ update_projection_matrix();
+}
+
+void Camera::set_position(const Vector3 &p)
+{
+ position = p;
+ update_object_matrix();
+}
+
+void Camera::set_look_direction(const Vector3 &l)
+{
+ look_dir = normalize(l);
+ update_object_matrix();
+}
+
+void Camera::look_at(const Vector3 &p)
+{
+ set_look_direction(p-position);
+}
+
+void Camera::set_up_direction(const Vector3 &u)
+{
+ up_dir = normalize(u);
+ update_object_matrix();
+}
+
+void Camera::set_object_matrix(const Matrix &m)
+{
+ position = m.column(3).slice<3>(0);
+ look_dir = normalize(-m.column(2).slice<3>(0));
+ up_dir = normalize(m.column(1).slice<3>(0));
+ update_object_matrix();
+}
+
+Vector3 Camera::project(const Vector4 &p) const
+{
+ Vector4 r = proj_matrix*(view_matrix*p);
+ return r.slice<3>(0)/r.w;
+}
+
+Vector3 Camera::project(const Vector3 &p) const
+{
+ return project(Vector4(p.x, p.y, p.z, 1.0));
+}
+
+Vector4 Camera::unproject(const Vector4 &p) const
+{
+ Vector4 r = invert(proj_matrix)*Vector4(p.x, p.y, p.z, 1.0f);
+ r = matrix*Vector4(r.x/r.w, r.y/r.w, r.z/r.w, p.w);
+ return r;
+}
+
+Vector3 Camera::unproject(const Vector3 &p) const
+{
+ return unproject(Vector4(p.x, p.y, p.z, 1.0f)).slice<3>(0);
+}
+
+void Camera::update_projection_matrix()
+{
+ float frustum_h = (fov!=Geometry::Angle<float>::zero() ? tan(fov/2.0f)*clip_near : height/2);
+ float frustum_w = frustum_h*aspect;
+ float left = frustum_w*(frustum_x-1.0f);
+ float right = frustum_w*(frustum_x+1.0f);
+ float bottom = frustum_h*(frustum_y-1.0f);
+ float top = frustum_h*(frustum_y+1.0f);
+ if(fov>Geometry::Angle<float>::zero())
+ proj_matrix = Matrix::frustum(left, right, bottom, top, clip_near, clip_far);
+ else
+ proj_matrix = Matrix::ortho(left, right, bottom, top, clip_near, clip_far);
+ proj_matrix = Matrix::rotation(rotate, Vector3(0, 0, 1))*proj_matrix;
+}
+
+void Camera::update_object_matrix()
+{
+ Vector3 right_dir = normalize(cross(look_dir, up_dir));
+ Vector4 columns[4];
+ columns[0] = compose(right_dir, 0.0f);
+ columns[1] = compose(cross(right_dir, look_dir), 0.0f);
+ columns[2] = compose(-look_dir, 0.0f);
+ columns[3] = compose(position, 1.0f);
+ matrix = Matrix::from_columns(columns);
+ view_matrix = invert(matrix);
+}
+
+
+Camera::Loader::Loader(Camera &c):
+ DataFile::ObjectLoader<Camera>(c)
+{
+ add("aspect_ratio", &Loader::aspect_ratio);
+ add("depth_clip", &Loader::depth_clip);
+ add("field_of_view", &Loader::field_of_view);
+ add("look_at", &Loader::look_at);
+ add("look_direction", &Loader::look_direction);
+ add("orthographic", &Loader::orthographic);
+ add("position", &Loader::position);
+ add("up_direction", &Loader::up_direction);
+}
+
+void Camera::Loader::aspect_ratio(float a)
+{
+ obj.set_aspect_ratio(a);
+}
+
+void Camera::Loader::depth_clip(float n, float f)
+{
+ obj.set_depth_clip(n, f);
+}
+
+void Camera::Loader::field_of_view(float a)
+{
+ obj.set_field_of_view(Geometry::Angle<float>::from_degrees(a));
+}
+
+void Camera::Loader::look_at(float x, float y, float z)
+{
+ obj.look_at(Vector3(x, y, z));
+}
+
+void Camera::Loader::look_direction(float x, float y, float z)
+{
+ obj.set_look_direction(Vector3(x, y, z));
+}
+
+void Camera::Loader::orthographic(float w, float h)
+{
+ obj.set_orthographic(w, h);
+}
+
+void Camera::Loader::position(float x, float y, float z)
+{
+ obj.set_position(Vector3(x, y, z));
+}
+
+void Camera::Loader::up_direction(float x, float y, float z)
+{
+ obj.set_up_direction(Vector3(x, y, z));
+}
+
+} // namespace GL
+} // namespace Msp