opengl 如何以体面的方式实现交互式旋转操作

kx7yvsdv 于 2022-11-04 发布在其他

关注(0)|答案(2)|浏览(126)

最近，我想实现交互式旋转操作，就像在meshlab中一样：

基本上，它实现了三个自由度的旋转。我在GLFW的帮助下将这些操作可视化为以下代码：

static void mouse_move_callback(GLFWwindow* window, double xpos, double ypos){
...
do{
        //perform rotation operations only if keeping the right mouse key pressed
        if(glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT) == GLFW_RELEASE) {
            g_clr_right_mouse = true;
            break;
        }
        /*clear mouse state once transferred from release state 
          to pressed state to prevent from a instant flicker*/
        if(g_clr_right_mouse){
            g_lastX = xpos;
            g_lastY = ypos;
            g_clr_right_mouse = false;
        }

        float xoffset = xpos - g_lastX; //let movement from down to top positive
        float yoffset = g_lastY - ypos;
        g_lastX = xpos;
        g_lastY = ypos;

        //do counterclockwise rotation around x-asis with movement in y direction
        glm::mat4 r1 = glm::rotate(glm::mat4(), glm::radians(-yoffset * 0.5f), glm::vec3(1.0f,0.0f,0.0f));
        //do counterclockwise rotation around y-asis with movement in x direction
        glm::mat4 r2 = glm::rotate(glm::mat4(), glm::radians( xoffset * 0.5f), glm::vec3(0.0f,1.0f,0.0f));
        glm::mat4 tmp = r2 * r1 * g_model;
        for(int i=0; i<3; i++)
            g_model[i] = tmp[i];
        return ;
    }while(false);
}

这些代码都在这里，整个项目可以在here中找到，可以下载构建，最后执行如下：

但是，我的实现只能实现2个DOF的旋转操作，我添加了一个键盘回调函数来实现绕z轴的旋转：

void keyboard_callback(GLFWwindow* window, int key, int scancode, int action, int mod){
    if(glfwGetKey(window, GLFW_KEY_LEFT) == GLFW_PRESS){
        glm::mat4 r3 = glm::rotate(glm::mat4(), glm::radians(3.0f), glm::vec3(0,0,1.0f));
        glm::mat4 tmp = r3 * g_model;
        for(int i=0; i<3; i++)
            g_model[i] = tmp[i];
    }else if(glfwGetKey(window, GLFW_KEY_RIGHT) == GLFW_PRESS){
        glm::mat4 r3 = glm::rotate(glm::mat4(), glm::radians(-3.0f), glm::vec3(0,0,1.0f));
        glm::mat4 tmp = r3 * g_model;
        for(int i=0; i<3; i++)
            g_model[i] = tmp[i];
    }
}

因此，我的问题是如何体面地实现交互式旋转操作的三个自由度只与鼠标移动？

opengl

来源：https://stackoverflow.com/questions/62468005/how-to-implement-interactive-rotation-operations-in-a-decent-way

2条答案

按热度按时间

jpfvwuh41#

当拖动鼠标时，对象必须绕着垂直于鼠标移动方向的轴旋转。枢轴是模型的原点。

在视图的XY平面上将鼠标移动矢量旋转90 °。由于这是视图空间中的矢量，因此必须将该矢量从视图空间转换到世界空间。将矢量从视图空间转换到世界空间的矩阵是视图矩阵左上方3x3的逆矩阵：
第一个
创建一个围绕轴的旋转矩阵。Angular 取决于矢量的长度（height是以像素为单位的视口高度）：

GLfloat angle = glm::length(drag_vec) / height / 2 * M_PI;
drag_rotation = glm::rotate(glm::mat4(1.0f), angle, axis_vec);

拖动鼠标时计算旋转矩阵。拖动结束后将旋转矩阵与模型矩阵连接：

glm::mat4 view_matrix(1.0f);
glm::mat4 model_rotation(1.0f);
glm::mat4 drag_rotation(1.0f);
glm::vec2 drag_start(0.0f);
bool drag = false;

void mouse_button_callback(GLFWwindow* window, int button, int action, int mods)
{
    if (button != GLFW_MOUSE_BUTTON_LEFT)
        return;

    if (action == GLFW_PRESS)
    {
        drag = true;
        double xpos, ypos;
        glfwGetCursorPos(window, &xpos, &ypos);
        drag_start = glm::vec2(xpos, ypos);
    }
    else if (action == GLFW_RELEASE)
    {
        drag = false;
        model_rotation = drag_rotation * model_rotation;
        drag_rotation = glm::mat4(1.0f);
    }
}

void cursor_position_callback(GLFWwindow* window, double xpos, double ypos)
{
    if (!drag)
        return;

    glm::mat3 to_world = glm::inverse(glm::mat3(view_matrix));
    glm::vec2 drag_vec = glm::vec2(xpos - drag_start.x, drag_start.y - ypos);

    glm::vec3 axis_vec = glm::normalize(to_world * glm::vec3(-drag_vec.y, drag_vec.x, 0));
    GLfloat angle = glm::length(drag_vec) / height / 2 * M_PI;

    drag_rotation = glm::rotate(glm::mat4(1.0f), angle, axis_vec);
}

模型矩阵是drag_rotation和model_rotation的级联：

glm::mat4 model = drag_rotation * model_rotation;

另请参阅环转
完整示例：


# include <GL/glew.h>

# include <GL/gl.h>

# include <glm/glm.hpp>

# include <glm/gtc/matrix_transform.hpp>

# include <glm/gtc/type_ptr.hpp>

# include <GLFW/glfw3.h>

# include <vector>

# include <string>

# include <stdexcept>

# include <iostream>

# define _USE_MATH_DEFINES

# include <cmath>

# include <math.h>

# ifndef M_PI

# define M_PI 3.14159265358979323846

# endif

std::string sh_vert = R"(

# version 460 core

layout (location = 0) in vec4 a_position;
layout (location = 1) in vec3 a_uvw;

out vec3 v_uvw;

layout (location = 0) uniform mat4 u_projection;
layout (location = 1) uniform mat4 u_view;
layout (location = 2) uniform mat4 u_model;

void main() 
{
    v_uvw = a_uvw;
    gl_Position = u_projection * u_view * u_model * a_position;
}
)";

std::string sh_frag = R"(

# version 460 core

out vec4 frag_color;
in vec3 v_uvw;

vec3 HUEtoRGB(in float H)
{
    float R = abs(H * 6.0 - 3.0) - 1.0;
    float G = 2.0 - abs(H * 6.0 - 2.0);
    float B = 2.0 - abs(H * 6.0 - 4.0);
    return clamp(vec3(R, G, B), 0.0, 1.0);
}

void main()
{
    frag_color = vec4(HUEtoRGB(v_uvw.z), 1.0);
}
)";

class ShaderProgram
{
public:
    GLuint programObject;
    static ShaderProgram newProgram(const std::string& vsh, const std::string& fsh);
private:
    GLuint compileShader(const std::string& sourceCode, GLenum shaderType);
    void linkProgram(std::vector<GLuint> shObjs);
    void compileStatus(GLuint shader);
    void linkStatus();
};

class VertexArrayObject
{
public:
    GLuint vaoObject = 0;
    GLsizei noOfVertices = 0;
    GLsizei noOfIndices = 0;
    static VertexArrayObject newCube();
    static VertexArrayObject newCircles();
    static VertexArrayObject newVAO(const std::vector<GLfloat>& varray, const std::vector<GLuint>& iarray);
};

int width = 800, height = 600;
glm::mat4 view_matrix(1.0f);
glm::mat4 model_rotation(1.0f);
glm::mat4 drag_rotation(1.0f);
glm::vec2 drag_start(0.0f);
bool drag = false;

void mouse_button_callback(GLFWwindow* window, int button, int action, int mods)
{
    if (button != GLFW_MOUSE_BUTTON_LEFT)
        return;

    if (action == GLFW_PRESS)
    {
        drag = true;
        double xpos, ypos;
        glfwGetCursorPos(window, &xpos, &ypos);
        drag_start = glm::vec2(xpos, ypos);
    }
    else if (action == GLFW_RELEASE)
    {
        drag = false;
        model_rotation = drag_rotation * model_rotation;
        drag_rotation = glm::mat4(1.0f);
    }
}

void cursor_position_callback(GLFWwindow* window, double xpos, double ypos)
{
    if (!drag)
        return;

    glm::mat3 to_world = glm::inverse(glm::mat3(view_matrix));
    glm::vec2 drag_vec = glm::vec2(xpos - drag_start.x, drag_start.y - ypos);

    glm::vec3 axis_vec = glm::normalize(to_world * glm::vec3(-drag_vec.y, drag_vec.x, 0));
    GLfloat angle = glm::length(drag_vec) / height / 2 * M_PI;

    drag_rotation = glm::rotate(glm::mat4(1.0f), angle, axis_vec);
}

int main(void)
{
    if (glfwInit() == GLFW_FALSE)
        throw std::runtime_error( "error initializing glfw" );

    glfwWindowHint(GLFW_SAMPLES, 8);
    GLFWwindow * window = glfwCreateWindow(width, height, "OGL window", nullptr, nullptr);
    if (window == nullptr)
    {
        glfwTerminate();
        throw std::runtime_error( "error initializing window" ); 
    }
    glfwSetMouseButtonCallback(window, mouse_button_callback);
    glfwSetCursorPosCallback(window, cursor_position_callback);
    glfwMakeContextCurrent(window);

    if ( glewInit() != GLEW_OK )
        throw std::runtime_error( "error initializing glew" );

    auto progam = ShaderProgram::newProgram(sh_vert, sh_frag);
    auto cube = VertexArrayObject::newCube();
    auto circles = VertexArrayObject::newCircles();
    glUseProgram(progam.programObject);
    glEnable( GL_DEPTH_TEST );
    glClearColor(0.1f, 0.3f, 0.2f, 0.0f);

    view_matrix = glm::lookAt(glm::vec3(0.0f, 0.0f, 7.0f), glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3(0.0f, 1.0f, 0.0f));
    glUniformMatrix4fv(1, 1, GL_FALSE, glm::value_ptr(view_matrix));

    while (!glfwWindowShouldClose(window))
    {
        glfwGetFramebufferSize(window, &width, &height);

        float ascpect = (float)width / (float)height;
        glm::mat4 project = glm::perspective(glm::radians(60.0f), ascpect, 0.1f, 20.0f);        
        glUniformMatrix4fv(0, 1, GL_FALSE, glm::value_ptr(project));
        glm::mat4 model = drag_rotation * model_rotation;

        glViewport(0, 0, width, height);
        glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );

        glUniformMatrix4fv(2, 1, GL_FALSE, glm::value_ptr(model));
        glBindVertexArray(cube.vaoObject);
        glDrawElements(GL_TRIANGLES, cube.noOfIndices, GL_UNSIGNED_INT, nullptr);

        glUniformMatrix4fv(2, 1, GL_FALSE, glm::value_ptr(glm::scale(model, glm::vec3(2.5f))));
        glBindVertexArray(circles.vaoObject);
        glDrawElements(GL_LINES, circles.noOfIndices, GL_UNSIGNED_INT, nullptr);

        glfwSwapBuffers(window);
        glfwPollEvents();
    }

    glfwDestroyWindow(window);
    glfwTerminate();

    return 0;
}

ShaderProgram ShaderProgram::newProgram(const std::string& vsh, const std::string& fsh)
{
    ShaderProgram program;
    auto shObjs = std::vector<GLuint>
    {
        program.compileShader(vsh, GL_VERTEX_SHADER),
        program.compileShader(fsh, GL_FRAGMENT_SHADER),
    };
    for (auto shObj : shObjs)
        program.compileStatus(shObj);
    program.linkProgram(shObjs);
    for (auto shObj : shObjs)
        glDeleteShader(shObj);
    return program;
}

GLuint ShaderProgram::compileShader(const std::string& sourceCode, GLenum shaderType)
{
    auto shaderObj = glCreateShader(shaderType);
    const char* srcCodePtr = sourceCode.c_str();
    glShaderSource(shaderObj, 1, &srcCodePtr, nullptr);
    glCompileShader(shaderObj);
    return shaderObj;
}

void ShaderProgram::linkProgram(std::vector<GLuint> shObjs)
{
    programObject = glCreateProgram();
    for (auto shObj : shObjs)
        glAttachShader(programObject, shObj);
    glLinkProgram(programObject);
    linkStatus();
}

void ShaderProgram::compileStatus(GLuint shader)
{
    GLint status = GL_TRUE;
    glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
    if (status == GL_FALSE)
    {
        GLint logLen;
        glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &logLen);
        std::vector< char >log(logLen);
        GLsizei written;
        glGetShaderInfoLog(shader, logLen, &written, log.data());
        std::cout << "compile error:" << std::endl << log.data() << std::endl;
    }
}

void ShaderProgram::linkStatus()
{
    GLint status = GL_TRUE;
    glGetProgramiv(programObject, GL_LINK_STATUS, &status);
    if (status == GL_FALSE)
    {
        GLint logLen;
        glGetProgramiv(programObject, GL_INFO_LOG_LENGTH, &logLen);
        std::vector< char >log(logLen);
        GLsizei written;
        glGetProgramInfoLog(programObject, logLen, &written, log.data());
        std::cout << "link error:" << std::endl << log.data() << std::endl;
    }
}

VertexArrayObject VertexArrayObject::newCube()
{
    static const std::vector<GLfloat> vertices{ -1, -1, -1, 1, -1, -1, 1, 1, -1, -1, 1, -1, -1, -1, 1, 1, -1, 1, 1, 1, 1, -1, 1, 1 };
    static const std::vector<GLfloat> uv{ 0, 0, 1, 0, 1, 1, 0, 1 };
    static const std::vector<size_t> faces{ 0, 1, 2, 3, 1, 5, 6, 2, 5, 4, 7, 6, 4, 0, 3, 7, 3, 2, 6, 7, 1, 0, 4, 5 };

    std::vector<GLfloat> varray;
    std::vector<GLuint> iarray;
    for (auto si = 0; si < faces.size() / 4; si++)
    {
        for (auto qi = 0; qi < 4; qi++)
        {
            varray.insert(varray.end(), vertices.begin() + faces[si * 4 + qi] * 3, vertices.begin() + faces[si * 4 + qi] * 3 + 3);
            std::vector<GLfloat> uvw{ 0, 0, (GLfloat)si * 4.0f / (GLfloat)faces.size() };
            varray.insert(varray.end(), uvw.begin(), uvw.end());
        }
        std::vector<GLuint> indices{ 4u * si, 4u * si + 1, 4u * si + 2, 4u * si, 4u * si + 2, 4u * si + 3 };
        iarray.insert(iarray.end(), indices.begin(), indices.end());
    }

    return newVAO(varray, iarray);
}

VertexArrayObject VertexArrayObject::newCircles()
{
    const GLuint noC = 360;
    std::vector<GLfloat> varray;
    std::vector<GLuint> iarray;

    for (int i = 0; i <= noC; i++)
    {
        GLfloat angle = static_cast<GLfloat>(i * 2 * M_PI / noC);
        GLfloat c = cos(angle), s = sin(angle);
        std::vector<GLfloat> va{ 0, c, s, 0, 0, 0, s, 0, c, 0, 0, 1.0f / 3.0f, c, s, 0, 0, 0, 2.0f / 3.0f };
        varray.insert(varray.end(), va.begin(), va.end());
    }
    for (GLuint ci = 0; ci < 3; ci++)
    {
        for (GLuint i = 0; i <= noC; i++)
        {
            std::vector<GLuint> ia{ i * 3 + ci, ((i + 1) % noC) * 3 + ci };
            iarray.insert(iarray.end(), ia.begin(), ia.end());
        }
    }

    return newVAO(varray, iarray);
}

VertexArrayObject VertexArrayObject::newVAO(const std::vector<GLfloat>& varray, const std::vector<GLuint>& iarray)
{
    VertexArrayObject vao;
    vao.noOfIndices = static_cast<GLsizei>(iarray.size());
    vao.noOfVertices = static_cast<GLsizei>(varray.size() / 6);

    GLuint bufferObjects[2];
    glGenBuffers(2, bufferObjects);;
    glGenVertexArrays(1, &vao.vaoObject);

    glBindVertexArray(vao.vaoObject);
    glEnableVertexAttribArray(0);
    glEnableVertexAttribArray(1);
    glBindBuffer(GL_ARRAY_BUFFER, bufferObjects[0]);
    glBufferData(GL_ARRAY_BUFFER, varray.size() * sizeof(*varray.data()), varray.data(), GL_STATIC_DRAW);
    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 6 * sizeof(*varray.data()), 0);
    glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 6 * sizeof(*varray.data()), (void*)(3 * sizeof(*varray.data())));
    if (vao.noOfIndices > 0)
    {
        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, bufferObjects[1]);
        glBufferData(GL_ELEMENT_ARRAY_BUFFER, iarray.size() * sizeof(*iarray.data()), iarray.data(), GL_STATIC_DRAW);
    }
    glBindVertexArray(0);
    glDeleteBuffers(2, bufferObjects);

    return vao;
}

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atmip9wb2#

你需要把球画出来才能让它直观。
当鼠标按下时，您在鼠标指针正下方的球上放置一个锚。如果单击是在球的外部，则使用球上最近的点。
当鼠标移动时，您可以旋转球，使锚点沿着最短路径移动，从而使其保持在鼠标指针的正下方。如果鼠标指针离开球，则使用球上最近的点。
也许this会有帮助。

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