orbit.js

'use strict'

module.exports = createOrbitController

var filterVector  = require('filtered-vector')
var lookAt        = require('gl-mat4/lookAt')
var mat4FromQuat  = require('gl-mat4/fromQuat')
var invert44      = require('gl-mat4/invert')
var quatFromFrame = require('./lib/quatFromFrame')

function len3(x,y,z) {
  return Math.sqrt(Math.pow(x,2) + Math.pow(y,2) + Math.pow(z,2))
}

function len4(w,x,y,z) {
  return Math.sqrt(Math.pow(w,2) + Math.pow(x,2) + Math.pow(y,2) + Math.pow(z,2))
}

function normalize4(out, a) {
  var ax = a[0]
  var ay = a[1]
  var az = a[2]
  var aw = a[3]
  var al = len4(ax, ay, az, aw)
  if(al > 1e-6) {
    out[0] = ax/al
    out[1] = ay/al
    out[2] = az/al
    out[3] = aw/al
  } else {
    out[0] = out[1] = out[2] = 0.0
    out[3] = 1.0
  }
}

function OrbitCameraController(initQuat, initCenter, initRadius) {
  this.radius    = filterVector([initRadius])
  this.center    = filterVector(initCenter)
  this.rotation  = filterVector(initQuat)

  this.computedRadius   = this.radius.curve(0)
  this.computedCenter   = this.center.curve(0)
  this.computedRotation = this.rotation.curve(0)
  this.computedUp       = [0.1,0,0]
  this.computedEye      = [0.1,0,0]
  this.computedMatrix   = [0.1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]

  this.recalcMatrix(0)
}

var proto = OrbitCameraController.prototype

proto.lastT = function() {
  return Math.max(
    this.radius.lastT(),
    this.center.lastT(),
    this.rotation.lastT())
}

proto.recalcMatrix = function(t) {
  this.radius.curve(t)
  this.center.curve(t)
  this.rotation.curve(t)

  var quat = this.computedRotation
  normalize4(quat, quat)

  var mat = this.computedMatrix
  mat4FromQuat(mat, quat)

  var center = this.computedCenter
  var eye    = this.computedEye
  var up     = this.computedUp
  var radius = Math.exp(this.computedRadius[0])

  eye[0] = center[0] + radius * mat[2]
  eye[1] = center[1] + radius * mat[6]
  eye[2] = center[2] + radius * mat[10]
  up[0] = mat[1]
  up[1] = mat[5]
  up[2] = mat[9]

  for(var i=0; i<3; ++i) {
    var rr = 0.0
    for(var j=0; j<3; ++j) {
      rr += mat[i+4*j] * eye[j]
    }
    mat[12+i] = -rr
  }
}

proto.getMatrix = function(t, result) {
  this.recalcMatrix(t)
  var m = this.computedMatrix
  if(result) {
    for(var i=0; i<16; ++i) {
      result[i] = m[i]
    }
    return result
  }
  return m
}

proto.idle = function(t) {
  this.center.idle(t)
  this.radius.idle(t)
  this.rotation.idle(t)
}

proto.flush = function(t) {
  this.center.flush(t)
  this.radius.flush(t)
  this.rotation.flush(t)
}

proto.pan = function(t, dx, dy, dz) {
  dx = dx || 0.0
  dy = dy || 0.0
  dz = dz || 0.0

  this.recalcMatrix(t)
  var mat = this.computedMatrix

  var ux = mat[1]
  var uy = mat[5]
  var uz = mat[9]
  var ul = len3(ux, uy, uz)
  ux /= ul
  uy /= ul
  uz /= ul

  var rx = mat[0]
  var ry = mat[4]
  var rz = mat[8]
  var ru = rx * ux + ry * uy + rz * uz
  rx -= ux * ru
  ry -= uy * ru
  rz -= uz * ru
  var rl = len3(rx, ry, rz)
  rx /= rl
  ry /= rl
  rz /= rl

  var fx = mat[2]
  var fy = mat[6]
  var fz = mat[10]
  var fu = fx * ux + fy * uy + fz * uz
  var fr = fx * rx + fy * ry + fz * rz
  fx -= fu * ux + fr * rx
  fy -= fu * uy + fr * ry
  fz -= fu * uz + fr * rz
  var fl = len3(fx, fy, fz)
  fx /= fl
  fy /= fl
  fz /= fl

  var vx = rx * dx + ux * dy
  var vy = ry * dx + uy * dy
  var vz = rz * dx + uz * dy

  this.center.move(t, vx, vy, vz)

  //Update z-component of radius
  var radius = Math.exp(this.computedRadius[0])
  radius = Math.max(1e-4, radius + dz)
  this.radius.set(t, Math.log(radius))
}

proto.rotate = function(t, dx, dy, dz) {
  this.recalcMatrix(t)

  dx = dx||0.0
  dy = dy||0.0

  var mat = this.computedMatrix

  var rx = mat[0]
  var ry = mat[4]
  var rz = mat[8]

  var ux = mat[1]
  var uy = mat[5]
  var uz = mat[9]

  var fx = mat[2]
  var fy = mat[6]
  var fz = mat[10]

  var qx = dx * rx + dy * ux
  var qy = dx * ry + dy * uy
  var qz = dx * rz + dy * uz

  var bx = -(fy * qz - fz * qy)
  var by = -(fz * qx - fx * qz)
  var bz = -(fx * qy - fy * qx)  
  var bw = Math.sqrt(Math.max(0.0, 1.0 - Math.pow(bx,2) - Math.pow(by,2) - Math.pow(bz,2)))
  var bl = len4(bx, by, bz, bw)
  if(bl > 1e-6) {
    bx /= bl
    by /= bl
    bz /= bl
    bw /= bl
  } else {
    bx = by = bz = 0.0
    bw = 1.0
  }

  var rotation = this.computedRotation
  var ax = rotation[0]
  var ay = rotation[1]
  var az = rotation[2]
  var aw = rotation[3]

  var cx = ax*bw + aw*bx + ay*bz - az*by
  var cy = ay*bw + aw*by + az*bx - ax*bz
  var cz = az*bw + aw*bz + ax*by - ay*bx
  var cw = aw*bw - ax*bx - ay*by - az*bz
  
  //Apply roll
  if(dz) {
    bx = fx
    by = fy
    bz = fz
    var s = Math.sin(dz) / len3(bx, by, bz)
    bx *= s
    by *= s
    bz *= s
    bw = Math.cos(dx)
    cx = cx*bw + cw*bx + cy*bz - cz*by
    cy = cy*bw + cw*by + cz*bx - cx*bz
    cz = cz*bw + cw*bz + cx*by - cy*bx
    cw = cw*bw - cx*bx - cy*by - cz*bz
  }

  var cl = len4(cx, cy, cz, cw)
  if(cl > 1e-6) {
    cx /= cl
    cy /= cl
    cz /= cl
    cw /= cl
  } else {
    cx = cy = cz = 0.0
    cw = 1.0
  }

  this.rotation.set(t, cx, cy, cz, cw)
}

proto.lookAt = function(t, eye, center, up) {
  this.recalcMatrix(t)

  center = center || this.computedCenter
  eye    = eye    || this.computedEye
  up     = up     || this.computedUp

  var mat = this.computedMatrix
  lookAt(mat, eye, center, up)

  var rotation = this.computedRotation
  quatFromFrame(rotation,
    mat[0], mat[1], mat[2],
    mat[4], mat[5], mat[6],
    mat[8], mat[9], mat[10])
  normalize4(rotation, rotation)
  this.rotation.set(t, rotation[0], rotation[1], rotation[2], rotation[3])

  var fl = 0.0
  for(var i=0; i<3; ++i) {
    fl += Math.pow(center[i] - eye[i], 2)
  }
  this.radius.set(t, 0.5 * Math.log(Math.max(fl, 1e-6)))

  this.center.set(t, center[0], center[1], center[2])
}

proto.translate = function(t, dx, dy, dz) {
  this.center.move(t,
    dx||0.0,
    dy||0.0,
    dz||0.0)
}

proto.setMatrix = function(t, matrix) {

  var rotation = this.computedRotation
  quatFromFrame(rotation,
    matrix[0], matrix[1], matrix[2],
    matrix[4], matrix[5], matrix[6],
    matrix[8], matrix[9], matrix[10])
  normalize4(rotation, rotation)
  this.rotation.set(t, rotation[0], rotation[1], rotation[2], rotation[3])

  var mat = this.computedMatrix
  invert44(mat, matrix)
  var w = mat[15]
  if(Math.abs(w) > 1e-6) {
    var cx = mat[12]/w
    var cy = mat[13]/w
    var cz = mat[14]/w

    this.recalcMatrix(t)  
    var r = Math.exp(this.computedRadius[0])
    this.center.set(t, cx-mat[2]*r, cy-mat[6]*r, cz-mat[10]*r)
    this.radius.idle(t)
  } else {
    this.center.idle(t)
    this.radius.idle(t)
  }
}

proto.setDistance = function(t, d) {
  if(d > 0) {
    this.radius.set(t, Math.log(d))
  }
}

proto.setDistanceLimits = function(lo, hi) {
  if(lo > 0) {
    lo = Math.log(lo)
  } else {
    lo = -Infinity    
  }
  if(hi > 0) {
    hi = Math.log(hi)
  } else {
    hi = Infinity
  }
  hi = Math.max(hi, lo)
  this.radius.bounds[0][0] = lo
  this.radius.bounds[1][0] = hi
}

proto.getDistanceLimits = function(out) {
  var bounds = this.radius.bounds
  if(out) {
    out[0] = Math.exp(bounds[0][0])
    out[1] = Math.exp(bounds[1][0])
    return out
  }
  return [ Math.exp(bounds[0][0]), Math.exp(bounds[1][0]) ]
}

proto.toJSON = function() {
  this.recalcMatrix(this.lastT())
  return {
    center:   this.computedCenter.slice(),
    rotation: this.computedRotation.slice(),
    distance: Math.log(this.computedRadius[0]),
    zoomMin:  this.radius.bounds[0][0],
    zoomMax:  this.radius.bounds[1][0]
  }
}

proto.fromJSON = function(options) {
  var t = this.lastT()
  var c = options.center
  if(c) {
    this.center.set(t, c[0], c[1], c[2])
  }
  var r = options.rotation
  if(r) {
    this.rotation.set(t, r[0], r[1], r[2], r[3])
  }
  var d = options.distance
  if(d && d > 0) {
    this.radius.set(t, Math.log(d))
  }
  this.setDistanceLimits(options.zoomMin, options.zoomMax)
}

function createOrbitController(options) {
  options = options || {}
  var center   = options.center   || [0,0,0]
  var rotation = options.rotation || [0,0,0,1]
  var radius   = options.radius   || 1.0

  center = [].slice.call(center, 0, 3)
  rotation = [].slice.call(rotation, 0, 4)
  normalize4(rotation, rotation)

  var result = new OrbitCameraController(
    rotation,
    center,
    Math.log(radius))

  result.setDistanceLimits(options.zoomMin, options.zoomMax)

  if('eye' in options || 'up' in options) {
    result.lookAt(0, options.eye, options.center, options.up)
  }

  return result
}