C++ QMatrix4x4::rotate方法代码示例

void ViewportViewPerspective::initializeViewport(const QVector3D& surfmin, const QVector3D& surfmax, int width, int height)
{
    // add margin to max/min
    QVector3D diff = 0.01 * _margin * (surfmax - surfmin);
    QVector3D min = surfmin - diff;
    QVector3D max = surfmax + diff;

    // calculate the midpoint of the bounding box, which is used as the center of the
    // model for rotating the model
    _midpoint = 0.5 * (min + max);

    QVector3D panpoint = _midpoint;
    panpoint.setX(panpoint.x() + _panX);
    panpoint.setY(panpoint.y() + _panY);
    panpoint.setZ(panpoint.z() + _panZ);

    // calculate the distance of the camera to the center of the model, following from
    // the field of view from the camera
    float dist = sqrt((max.y() - min.y()) * (max.y() - min.y())
                      + (max.z() - min.z()) * (max.z() - min.z()));
    if (dist == 0)
        dist = 1E-2f;
    if (atan(_field_of_view) != 0) {
        _distance = 1.5 * dist / atan(_field_of_view);
        if (_distance > 1E5)
            _distance = 1E5;
    }
    else
        _distance = 1E5;

    // build the vertex transformation matrix from the perspective
    // and the angle, elevation

    float aspect_ratio = 1.0;
    if (height != 0)
        aspect_ratio = width / static_cast<float>(height);
    _proj = QMatrix4x4();

    // create projection
    _proj.perspective(RadToDeg(_field_of_view) / _zoom, aspect_ratio, 0.1f, 40.0f);
    
    // find the camera location
    QMatrix4x4 model;
    model.translate(_panX, _panY, _panZ);
    model.rotate(-_elevation, 1, 0, 0);
    model.rotate(_angle, 0, 0, 1);
    _camera_location = model.map(QVector3D(max.x() + _distance, 0, 0));
    
    // view matrix
    QMatrix4x4 view;
    view.lookAt(_camera_location, panpoint, QVector3D(0,0,1));
    
    _view = view;

    finishSetup();
}

coordinates::coordinates( float size, float thickness ):
    m_node( new QGLSceneNode() )
{
    QGLBuilder builder;
    builder << QGLCylinder( thickness, thickness, size, 12 );
    QGLSceneNode* cylinder = builder.finalizedSceneNode();
    cylinder->setPosition( QVector3D( 0, 0, 0.5 * size ) );
    cylinder->setEffect( QGL::LitMaterial );

    QGLBuilder arrowBuilder;
    arrowBuilder << QGLCylinder( 0.01, 2 * thickness, size / 3, 12 );
    QGLSceneNode* arrow = arrowBuilder.finalizedSceneNode();
    arrow->setPosition( QVector3D( 0, 0, size ) );
    arrow->setEffect( QGL::LitMaterial );
    
    
    QGLSceneNode* x = new QGLSceneNode( m_node );
    x->addNode(cylinder);
    QMatrix4x4 matrix;
    QQuaternion q = QQuaternion::fromAxisAndAngle(0.0f, 1.0f, 0.0f, 90.0f);
    matrix.rotate( q );
    x->setLocalTransform( matrix );
    QGLSceneNode* xArrow = new QGLSceneNode( m_node );
    xArrow->addNode( arrow );
    xArrow->setLocalTransform( matrix );
    QGLMaterial* xMaterial = new QGLMaterial;
    xMaterial->setDiffuseColor( QColor( 255, 0, 0, 128 ) );
    x->setMaterial( xMaterial );
    xArrow->setMaterial( xMaterial );
    
    QGLSceneNode* y = new QGLSceneNode( m_node );
    y->addNode(cylinder);
    q = QQuaternion::fromAxisAndAngle(1.0f, 0.0f, 0.0f, -90.0f);
    matrix.rotate( q );
    y->setLocalTransform( matrix );
    QGLSceneNode* yArrow = new QGLSceneNode( m_node );
    yArrow->addNode( arrow );
    yArrow->setLocalTransform( matrix );
    QGLMaterial* yMaterial = new QGLMaterial;
    yMaterial->setDiffuseColor(Qt::green);
    y->setMaterial( yMaterial );
    QGLMaterial* yArrowMaterial = new QGLMaterial;
    yArrowMaterial->setDiffuseColor( QColor( 0, 255, 0, 128 ) );
    yArrow->setMaterial( yArrowMaterial );
    
    QGLSceneNode* z = new QGLSceneNode( m_node );
    z->addNode(cylinder);
    QGLSceneNode* zArrow = new QGLSceneNode( m_node );
    zArrow->addNode( arrow );
    QGLMaterial* zMaterial = new QGLMaterial;
    zMaterial->setDiffuseColor(Qt::blue);
    z->setMaterial( zMaterial );
    QGLMaterial* zArrowMaterial = new QGLMaterial;
    zArrowMaterial->setDiffuseColor( QColor( 0, 0, 255, 128 ) );
    zArrow->setMaterial( zArrowMaterial );
}

void CompasWidget::paintGL(){
	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
	glEnable(GL_DEPTH_TEST);
	glEnable(GL_CULL_FACE);
	m_world.setToIdentity();
	m_world.rotate(180.0f - (m_xRot / 16.0f), 1, 0, 0);
	m_world.rotate(m_yRot / 16.0f, 0, 1, 0);
	m_world.rotate(m_zRot / 16.0f, 0, 0, 1);

	/*


	QOpenGLVertexArrayObject::Binder vaoBinder(&m_vao);
	m_program->bind();
	m_program->setUniformValue(m_projMatrixLoc, m_proj);
	m_program->setUniformValue(m_mvMatrixLoc, m_camera * m_world);
	QMatrix3x3 normalMatrix = m_world.normalMatrix();
	m_program->setUniformValue(m_normalMatrixLoc, normalMatrix);

	glDrawArrays(GL_TRIANGLES, 0, m_logo.vertexCount());

	m_program->release();
*/

	QOpenGLFunctions *f = context()->functions();
	const bool newFrameReady=true;
	if (newFrameReady) {//new frame ready
		f->glFrontFace(GL_CW); // because our cube's vertex data is such

		f->glBindTexture(GL_TEXTURE_2D, m_fbo2->texture());

		m_program2->bind();
		QOpenGLVertexArrayObject::Binder vaoBinder(m_vao2);
		// If VAOs are not supported, set the vertex attributes every time.
		if (!m_vao2->isCreated()){
			setupVertexAttribs2();
		}

		static GLfloat angle = 0;
		QMatrix4x4 m;
		m.translate(0, 0, -20);
		m.rotate(90, 0, 0, 1);
		m.rotate(angle, 0.5, 1, 0);
		angle += 0.5f;

		m_program2->setUniformValue(m_matrixLoc, m_proj * m);

		// Draw the cube.
		f->glDrawArrays(GL_TRIANGLES, 0, 36);

		m_program2->release();

	}


}

void Renderer::render()
{
    QMutexLocker locker(&m_windowLock);

    if (m_windows.isEmpty())
        return;

    HelloWindow *surface = m_windows.at(m_currentWindow);
    QColor color = surface->color();

    m_currentWindow = (m_currentWindow + 1) % m_windows.size();

    if (!m_context->makeCurrent(surface))
        return;

    QSize viewSize = surface->size();

    locker.unlock();

    if (!m_initialized) {
        initialize();
        m_initialized = true;
    }

    QOpenGLFunctions *f = m_context->functions();
    f->glViewport(0, 0, viewSize.width() * surface->devicePixelRatio(), viewSize.height() * surface->devicePixelRatio());

    f->glClearColor(0.1f, 0.1f, 0.2f, 1.0f);
    f->glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    f->glFrontFace(GL_CW);
    f->glCullFace(GL_FRONT);
    f->glEnable(GL_CULL_FACE);
    f->glEnable(GL_DEPTH_TEST);

    QMatrix4x4 modelview;
    modelview.rotate(m_fAngle, 0.0f, 1.0f, 0.0f);
    modelview.rotate(m_fAngle, 1.0f, 0.0f, 0.0f);
    modelview.rotate(m_fAngle, 0.0f, 0.0f, 1.0f);
    modelview.translate(0.0f, -0.2f, 0.0f);

    m_program->bind();
    m_program->setUniformValue(matrixUniform, modelview);
    m_program->setUniformValue(colorUniform, color);
    paintQtLogo();
    m_program->release();

    f->glDisable(GL_DEPTH_TEST);
    f->glDisable(GL_CULL_FACE);

    m_context->swapBuffers(surface);

    m_fAngle += 1.0f;

    QTimer::singleShot(0, this, SLOT(render()));
}

void LogoRenderer::render()
{	
	//glClearColor(0.5f, 0.5f, 0.7f, 1.0f);
	glClearColor(0, 0, 0, 1);
	
	glEnable(GL_CULL_FACE);
	glFrontFace(GL_CW);
    glCullFace(GL_BACK);
	glEnable(GL_DEPTH_TEST);
	glEnable(GL_BLEND);
	glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
	glPointSize(5.0);
	//glClearDepth(1.0f);
	
	glDisable(GL_SCISSOR_TEST);
    glEnable(GL_STENCIL_TEST);
	
	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
	
	handleEvents();
	handleLogic();
	
	drawStuff();
	
	glDisable(GL_DEPTH_TEST);
    glDisable(GL_CULL_FACE);
	
	return;
	
    glDepthMask(true);

    glClearColor(0.5f, 0.5f, 0.7f, 1.0f);
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    glFrontFace(GL_CW);
    glCullFace(GL_FRONT);
    glEnable(GL_CULL_FACE);
    glEnable(GL_DEPTH_TEST);

    QMatrix4x4 modelview;
    modelview.rotate(m_fAngle, 0.0f, 1.0f, 0.0f);
    modelview.rotate(m_fAngle, 1.0f, 0.0f, 0.0f);
    modelview.rotate(m_fAngle, 0.0f, 0.0f, 1.0f);
    modelview.scale(m_fScale);
    modelview.translate(0.0f, -0.2f, 0.0f);

    program1.bind();
    program1.setUniformValue(matrixUniform1, modelview);
    paintQtLogo();
    program1.release();

    glDisable(GL_DEPTH_TEST);
    glDisable(GL_CULL_FACE);

    m_fAngle += 1.0f;
}

void SceneNode::rotate(char axis, double angle)
{
  QMatrix4x4 m;

  if(axis == 'x') m.rotate(angle, 1.0, 0.0, 0.0);
  else if(axis == 'y') m.rotate(angle, 0.0, 1.0, 0.0); 
  else if(axis == 'z') m.rotate(angle, 0.0, 0.0, 1.0);

  set_transform(get_transform() * m);
}

QMatrix4x4 Transform::GetMatrix() const
{
    QMatrix4x4 transformation;
    transformation.translate(m_pos);
    //Should use quaternions for the following
    transformation.rotate(m_rotation.z(),QVector3D(0.0f,0.0f,1.0f));
    transformation.rotate(m_rotation.y(),QVector3D(0.0f,1.0f,0.0f));
    transformation.rotate(m_rotation.x(),QVector3D(1.0f,0.0f,0.0f));
    transformation.scale(m_scale);

    return transformation;
}

void CameraShader::apply() {
    QMatrix4x4 mv;
    mv.setToIdentity();
    // ModelView.rotate(eye, at, up);

    mv.rotate(-_pitch, 1.0, 0.0, 0.0);
    mv.rotate(  -_yaw, 0.0, 1.0, 0.0);
    mv.rotate( -_roll, 0.0, 0.0, 1.0);
    mv.translate(-_position.x, -_position.y, -_position.z);

    _shaderProgram->setUniformValue("ModelView", mv);
}

void Renderable3DEntity::updateTransform()
{
    QMatrix4x4 m;

    //Do the translation after rotating, otherwise rotation around the x,y,z axis would be screwed up
    m.translate(m_position);
    m.rotate(m_fRotX, QVector3D(1.0f, 0.0f, 0.0f));
    m.rotate(m_fRotY, QVector3D(0.0f, 1.0f, 0.0f));
    m.rotate(m_fRotZ, QVector3D(0.0f, 0.0f, 1.0f));

    m_pTransform->setMatrix(m);
}

void Camera::updateRotation( float pitch, float yaw, float roll)
{
    QMatrix4x4 cameraTransformation;
    cameraTransformation.setToIdentity();
    cameraTransformation.rotate(-roll, m_cameraForwardVector.toVector3D());
    cameraTransformation.rotate(-pitch, m_cameraRightVector.toVector3D());
    cameraTransformation.rotate(yaw, m_cameraUpVector.toVector3D());

    m_cameraForwardVector = m_cameraForwardVector * cameraTransformation;
    m_cameraRightVector = m_cameraRightVector * cameraTransformation;
    m_cameraUpVector = m_cameraUpVector * cameraTransformation;
}

void LogoRenderer::render()
{
#if 1
    QString fileName="c:\\shareproject\\jpg\\512img004.jpg";
    QImage image(fileName);
    if (image.isNull()) {
        qDebug()<<"image.isNull";
        return;
    }

    image = image.convertToFormat(QImage::Format_RGB888);
    //image = image.convertToFormat(QImage::Format_ARGB32);
    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, image.width(), image.height(), 0,
        //GL_BGRA, GL_UNSIGNED_INT_8_8_8_8_REV, image.bits());
        GL_RGB, GL_UNSIGNED_BYTE, image.bits());
    glDrawArrays(GL_TRIANGLES, 0, 6);
    QImage imagefrag(512,384,QImage::Format_RGB888);
    unsigned char *pixels = (unsigned char *) imagefrag.bits();
    glReadPixels(0, 0, 512, 384, GL_RGB, GL_UNSIGNED_BYTE, (GLvoid *)pixels);
    imagefrag.save("c:\\shareproject\\jpg\\512img005_frag2.jpg");
#endif
#if 0
    glDepthMask(true);

    glClearColor(0.5f, 0.5f, 0.7f, 1.0f);
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR );
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );

    glFrontFace(GL_CW);
    glCullFace(GL_FRONT);
    glEnable(GL_CULL_FACE);
    glEnable(GL_DEPTH_TEST);

    QMatrix4x4 modelview;
    modelview.rotate(m_fAngle, 0.0f, 1.0f, 0.0f);
    modelview.rotate(m_fAngle, 1.0f, 0.0f, 0.0f);
    modelview.rotate(m_fAngle, 0.0f, 0.0f, 1.0f);
    modelview.scale(m_fScale);
    modelview.translate(0.0f, -0.2f, 0.0f);

    program1.bind();
    program1.setUniformValue(matrixUniform1, modelview);
    paintQtLogo();
    program1.release();

    glDisable(GL_DEPTH_TEST);
    glDisable(GL_CULL_FACE);

    m_fAngle += 1.0f;
#endif
}

void QtRenderer::render()
{
    QMutexLocker locker(&m_windowLock);

    if (m_windows.isEmpty())
        return;

    HelloWindow *surface = m_windows.at(m_currentWindow);
    QColor color = surface->color();

    m_currentWindow = (m_currentWindow + 1) % m_windows.size();

    if (!m_context->makeCurrent(surface))
        return;
    
    m_fboController->bind(surface->size());
    m_fboController->bindAndDraw();
    m_fboController->release();

    QSize viewSize = surface->size();

    locker.unlock();

    if (!m_initialized) {
        initialize();
        m_initialized = true;
    }


    //f->glClearColor(0.1f, 0.1f, 0.2f, 1.0f);

    QOpenGLFunctions *f = m_context->functions();
    f->glViewport(0, 0, viewSize.width() * surface->devicePixelRatio(), viewSize.height() * surface->devicePixelRatio());
    f->glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    QMatrix4x4 modelview;
    modelview.rotate(m_fAngle, 0.0f, 1.0f, 0.0f);
    modelview.rotate(m_fAngle, 1.0f, 0.0f, 0.0f);
    modelview.rotate(m_fAngle, 0.0f, 0.0f, 1.0f);
    modelview.translate(0.0f, -0.2f, 0.0f);

    m_program->setUniformValue(matrixUniform, modelview);
    m_program->setUniformValue(colorUniform, color);

    m_context->functions()->glDrawArrays(GL_TRIANGLES, 0, vertices.size());

    m_context->swapBuffers(surface);

    m_fAngle += 1.0f;

    QTimer::singleShot(250, this, SLOT(render()));
}

static QMatrix4x4 CreateMatrix(PositionDesc & desc)
{
	QMatrix4x4 cameraMatrix;
	cameraMatrix.setToIdentity();
	QVector3D position(desc._xPos, desc._yPos, desc._zPos);
	cameraMatrix.rotate(desc._azimuth, 0, 0, 1);
	QVector3D vec(0, 0, 1);
	QVector3D vec2(cos(qDegreesToRadians(desc._azimuth)), sin(qDegreesToRadians(desc._azimuth)), 0);
	QVector3D axis = QVector3D::crossProduct(vec, vec2);
	cameraMatrix.rotate(desc._elevation, axis);
	cameraMatrix.translate(position);
	return cameraMatrix;
}

void AwesomeCamera::rotateView(float z_angle,float x_angle){

//    rotM.setToIdentity();


    double cosPhi = cos(mouse_sens*(-z_angle)/180*M_PI);
    double sinPhi = sin(mouse_sens*(-z_angle)/180*M_PI);


    direction      = QVector3D(cosPhi*direction.x()+sinPhi*direction.z(),direction.y(),
                               cosPhi*direction.z()-sinPhi*direction.x());

    QMatrix4x4 rotMat;
    rotMat.setToIdentity();
    rotMat.rotate(mouse_sens*(-x_angle),QVector3D::crossProduct(direction,QVector3D(0,1,0)));
    QVector3D tmpVec = (rotMat*QVector4D(direction)).toVector3D();
    tmpVec.normalize();
    double angleTheta = QVector3D::dotProduct(tmpVec,QVector3D(0,1,0));
    if(qAbs(angleTheta) < 0.9){
        rotMat.setToIdentity();
        rotMat.rotate(mouse_sens*(-x_angle)*(1-qAbs(angleTheta)),QVector3D::crossProduct(direction,QVector3D(0,1,0)));
        QVector3D tmpVec = (rotMat*QVector4D(direction)).toVector3D();
        tmpVec.normalize();
        direction = tmpVec;
    }

    side_direction = QVector3D(cosPhi*side_direction.x()+sinPhi*side_direction.z(),0,
                               cosPhi*side_direction.z()-sinPhi*side_direction.x());

    updown_direction = QVector3D::crossProduct(direction,side_direction);



/*
    rot_angles[0] += mouse_sens*(z_angle);//przesuniecie X
    rot_angles[1] -= mouse_sens*(x_angle);//przesuniecie Y
    if(rot_angles[1] > 90) rot_angles[1] = 90;
    if(rot_angles[1] <-90) rot_angles[1] = -90;
//    przesuniecie do przodu
    direction = QVector3D(-sin(rot_angles[0]/180*M_PI),sin(rot_angles[1]/180*M_PI),cos(rot_angles[0]/180*M_PI));
//    przesuniece na boki
    side_direction = QVector3D(sin((rot_angles[0]+90)/180*M_PI),0,-cos((rot_angles[0]+90)/180*M_PI));
//    przesuwanie gora dol
    updown_direction = QVector3D::crossProduct(direction,side_direction);
*/

    direction.normalize();
    side_direction.normalize();
    updown_direction.normalize();

}

void Dragon2Widget::mouseMoveEvent( QMouseEvent * e )
{
    if(e->buttons() != Qt::NoButton)
    {
        setCursor(Qt::ClosedHandCursor);
        auto t = (e->pos() - _lastMousePos);
        QMatrix4x4 rotMat;
        rotMat.rotate(-t.x() / 10.0 * M_PI, 0, 1, 0);
        rotMat.rotate(t.y() / 10.0 * M_PI, 1, 0, 0);
        _modelMatrix = rotMat * _modelMatrix;
        _lastMousePos = e->pos();
        update();
    }
}