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+<div class="title">Camera.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="_camera_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">/* Project nGenEx</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment"> Destroyer Studios LLC</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment"> Copyright © 1997-2004. All Rights Reserved.</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment"></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment"> SUBSYSTEM: nGenEx.lib</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment"> FILE: Camera.cpp</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment"> AUTHOR: John DiCamillo</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment"></span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment"></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment"> OVERVIEW</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment"> ========</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment"> Camera Class - Position and Point of View</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment">*/</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_mem_debug_8h.html">MemDebug.h</a>&quot;</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_camera_8h.html">Camera.h</a>&quot;</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="comment">// +--------------------------------------------------------------------+</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;</div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="code" href="class_camera.html#aa4747adcc770f9f32d507d7f5515c54e"> 20</a></span>&#160;<a class="code" href="class_camera.html#aa4747adcc770f9f32d507d7f5515c54e">Camera::Camera</a>(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> z)</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;: pos(x,y,z)</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;{ }</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;</div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="code" href="class_camera.html#ad1897942d0ccf91052386388a497349f"> 24</a></span>&#160;<a class="code" href="class_camera.html#ad1897942d0ccf91052386388a497349f">Camera::~Camera</a>()</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;{ }</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="comment">// +--------------------------------------------------------------------+</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;<span class="keywordtype">void</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno"><a class="code" href="class_camera.html#a3c12e547329d78def633eca0c1ff81fb"> 30</a></span>&#160;<a class="code" href="class_camera.html#a3c12e547329d78def633eca0c1ff81fb">Camera::MoveTo</a>(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> z)</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;{</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; <a class="code" href="class_camera.html#aaedfbcdcc08d79a7095e032fc36bf00b">pos</a>.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> = x;</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; <a class="code" href="class_camera.html#aaedfbcdcc08d79a7095e032fc36bf00b">pos</a>.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> = y;</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; <a class="code" href="class_camera.html#aaedfbcdcc08d79a7095e032fc36bf00b">pos</a>.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> = z;</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;}</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;<span class="keywordtype">void</span></div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="code" href="class_camera.html#a0429137f38af59ad62eb3fb98566efb2"> 38</a></span>&#160;<a class="code" href="class_camera.html#a3c12e547329d78def633eca0c1ff81fb">Camera::MoveTo</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>&amp; p)</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;{</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160; <a class="code" href="class_camera.html#aaedfbcdcc08d79a7095e032fc36bf00b">pos</a>.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> = p.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>;</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160; <a class="code" href="class_camera.html#aaedfbcdcc08d79a7095e032fc36bf00b">pos</a>.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> = p.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>;</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160; <a class="code" href="class_camera.html#aaedfbcdcc08d79a7095e032fc36bf00b">pos</a>.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> = p.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>;</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;}</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;<span class="comment">// +--------------------------------------------------------------------+</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160;<span class="keywordtype">void</span></div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="code" href="class_camera.html#aaa89ef034e2d1d82204071bede2256dc"> 48</a></span>&#160;<a class="code" href="class_camera.html#aaa89ef034e2d1d82204071bede2256dc">Camera::MoveBy</a>(<span class="keywordtype">double</span> dx, <span class="keywordtype">double</span> dy, <span class="keywordtype">double</span> dz)</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160;{</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; <a class="code" href="class_camera.html#aaedfbcdcc08d79a7095e032fc36bf00b">pos</a>.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> += dx;</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; <a class="code" href="class_camera.html#aaedfbcdcc08d79a7095e032fc36bf00b">pos</a>.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> += dz;</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; <a class="code" href="class_camera.html#aaedfbcdcc08d79a7095e032fc36bf00b">pos</a>.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> += dy;</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160;}</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160;</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160;<span class="keywordtype">void</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="code" href="class_camera.html#ae8599246e50c08d6dc8b14beb2cd7e0f"> 56</a></span>&#160;<a class="code" href="class_camera.html#aaa89ef034e2d1d82204071bede2256dc">Camera::MoveBy</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>&amp; p)</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160;{</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; <a class="code" href="class_camera.html#aaedfbcdcc08d79a7095e032fc36bf00b">pos</a>.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> += p.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>;</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; <a class="code" href="class_camera.html#aaedfbcdcc08d79a7095e032fc36bf00b">pos</a>.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> += p.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>;</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; <a class="code" href="class_camera.html#aaedfbcdcc08d79a7095e032fc36bf00b">pos</a>.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> += p.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>;</div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160;}</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160;</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160;<span class="comment">// +--------------------------------------------------------------------+</span></div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160;</div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160;<span class="keywordtype">void</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno"><a class="code" href="class_camera.html#a04eb689dabc8e56ec6098377d1321942"> 66</a></span>&#160;<a class="code" href="class_camera.html#a04eb689dabc8e56ec6098377d1321942">Camera::Clone</a>(<span class="keyword">const</span> <a class="code" href="class_camera.html">Camera</a>&amp; cam)</div>
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+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; <a class="code" href="class_camera.html#a436c6125ee4906bc206e989b1471c74d">orientation</a> = cam.<a class="code" href="class_camera.html#a436c6125ee4906bc206e989b1471c74d">orientation</a>;</div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160;}</div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160;</div>
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+<div class="line"><a name="l00075"></a><span class="lineno"><a class="code" href="class_camera.html#a1fc91ecc45ae91bf5d9d347670753408"> 75</a></span>&#160;<a class="code" href="class_camera.html#ae0e2c221f049b6259251cac4c44a6c15">Camera::LookAt</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>&amp; target, <span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>&amp; eye, <span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>&amp; up)</div>
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+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160;</div>
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+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160; <a class="code" href="class_camera.html#a436c6125ee4906bc206e989b1471c74d">orientation</a>(1,0) = yaxis.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>;</div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160; <a class="code" href="class_camera.html#a436c6125ee4906bc206e989b1471c74d">orientation</a>(1,1) = yaxis.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>;</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160; <a class="code" href="class_camera.html#a436c6125ee4906bc206e989b1471c74d">orientation</a>(1,2) = yaxis.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>;</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160;</div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160; <a class="code" href="class_camera.html#a436c6125ee4906bc206e989b1471c74d">orientation</a>(2,0) = zaxis.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>;</div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160; <a class="code" href="class_camera.html#a436c6125ee4906bc206e989b1471c74d">orientation</a>(2,1) = zaxis.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>;</div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160; <a class="code" href="class_camera.html#a436c6125ee4906bc206e989b1471c74d">orientation</a>(2,2) = zaxis.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>;</div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160;</div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160; <a class="code" href="class_camera.html#aaedfbcdcc08d79a7095e032fc36bf00b">pos</a> = eye;</div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160;}</div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160;</div>
+<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160;<span class="comment">// +--------------------------------------------------------------------+</span></div>
+<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160;</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160;<span class="keywordtype">void</span></div>
+<div class="line"><a name="l00099"></a><span class="lineno"><a class="code" href="class_camera.html#ae0e2c221f049b6259251cac4c44a6c15"> 99</a></span>&#160;<a class="code" href="class_camera.html#ae0e2c221f049b6259251cac4c44a6c15">Camera::LookAt</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>&amp; target)</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160;{</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160; <span class="comment">// No navel gazing:</span></div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160; <span class="keywordflow">if</span> (target == <a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>())</div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160; <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160;</div>
+<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160; <a class="code" href="struct_point.html">Point</a> tgt, tmp = target - <a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>();</div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160;</div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160; <span class="comment">// Rotate into the view orientation:</span></div>
+<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160; tgt.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> = (tmp * <a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>());</div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>&#160; tgt.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> = (tmp * <a class="code" href="class_camera.html#a38ab2061d58da025e9c95267505686ab">vup</a>());</div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>&#160; tgt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> = (tmp * <a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>());</div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>&#160;</div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>&#160; <span class="keywordflow">if</span> (tgt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> == 0) {</div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160; <a class="code" href="class_camera.html#af60842b1cef936d5d1fbf35e3f2ce58c">Pitch</a>(0.5);</div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160; <a class="code" href="class_camera.html#ac79dc292c4bbdc2d090646ee37ff0234">Yaw</a>(0.5);</div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>&#160; <a class="code" href="class_camera.html#ae0e2c221f049b6259251cac4c44a6c15">LookAt</a>(target);</div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>&#160; <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>&#160; }</div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>&#160;</div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>&#160; <span class="keywordtype">double</span> az = atan(tgt.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>/tgt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div>
+<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>&#160; <span class="keywordtype">double</span> el = atan(tgt.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>/tgt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160;</div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160; <span class="comment">// if target is behind, offset by 180 degrees:</span></div>
+<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>&#160; <span class="keywordflow">if</span> (tgt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> &lt; 0)</div>
+<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>&#160; az -= <a class="code" href="_geometry_8h.html#a952eac791b596a61bba0a133a3bb439f">PI</a>;</div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>&#160;</div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>&#160; <a class="code" href="class_camera.html#af60842b1cef936d5d1fbf35e3f2ce58c">Pitch</a>(-el);</div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>&#160; <a class="code" href="class_camera.html#ac79dc292c4bbdc2d090646ee37ff0234">Yaw</a>(az);</div>
+<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>&#160;</div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>&#160; <span class="comment">// roll to upright position:</span></div>
+<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>&#160; <span class="keywordtype">double</span> deflection = <a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>().<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>;</div>
+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>&#160; <span class="keywordflow">while</span> (fabs(deflection) &gt; 0.001) {</div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>&#160; <span class="keywordtype">double</span> theta = asin(deflection/<a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>().length());</div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>&#160; <a class="code" href="class_camera.html#aa678551b4a0fb7839dab3fe6cd781e65">Roll</a>(-theta);</div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>&#160;</div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>&#160; deflection = <a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>().<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>;</div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>&#160; }</div>
+<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>&#160;}</div>
+<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>&#160;</div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>&#160;</div>
+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>&#160;<span class="comment">// +--------------------------------------------------------------------+</span></div>
+<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>&#160;</div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>&#160;<span class="keywordtype">bool</span></div>
+<div class="line"><a name="l00143"></a><span class="lineno"><a class="code" href="class_camera.html#a88973e7224dd6c5c123af5e154e785bb"> 143</a></span>&#160;<a class="code" href="class_camera.html#a88973e7224dd6c5c123af5e154e785bb">Camera::Padlock</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>&amp; target, <span class="keywordtype">double</span> alimit, <span class="keywordtype">double</span> e_lo, <span class="keywordtype">double</span> e_hi)</div>
+<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>&#160;{</div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>&#160; <span class="comment">// No navel gazing:</span></div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>&#160; <span class="keywordflow">if</span> (target == <a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>())</div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>&#160; <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>&#160;</div>
+<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>&#160; <a class="code" href="struct_point.html">Point</a> tgt, tmp = target - <a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>();</div>
+<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>&#160;</div>
+<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>&#160; <span class="comment">// Rotate into the view orientation:</span></div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>&#160; tgt.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> = (tmp * <a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>());</div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>&#160; tgt.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> = (tmp * <a class="code" href="class_camera.html#a38ab2061d58da025e9c95267505686ab">vup</a>());</div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>&#160; tgt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> = (tmp * <a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>());</div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>&#160;</div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>&#160; <span class="keywordflow">if</span> (tgt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> == 0) {</div>
+<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>&#160; <a class="code" href="class_camera.html#ac79dc292c4bbdc2d090646ee37ff0234">Yaw</a>(0.1);</div>
+<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>&#160;</div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>&#160; tgt.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> = (tmp * <a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>());</div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>&#160; tgt.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> = (tmp * <a class="code" href="class_camera.html#a38ab2061d58da025e9c95267505686ab">vup</a>());</div>
+<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>&#160; tgt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> = (tmp * <a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>());</div>
+<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>&#160;</div>
+<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>&#160; <span class="keywordflow">if</span> (tgt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> == 0)</div>
+<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>&#160; <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>&#160; }</div>
+<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>&#160;</div>
+<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>&#160; <span class="keywordtype">bool</span> locked = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>&#160; <span class="keywordtype">double</span> az = atan(tgt.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>/tgt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div>
+<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>&#160; <span class="keywordtype">double</span> orig = az;</div>
+<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>&#160;</div>
+<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>&#160; <span class="comment">// if target is behind, offset by 180 degrees:</span></div>
+<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>&#160; <span class="keywordflow">if</span> (tgt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> &lt; 0)</div>
+<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>&#160; az -= <a class="code" href="_geometry_8h.html#a952eac791b596a61bba0a133a3bb439f">PI</a>;</div>
+<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>&#160;</div>
+<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>&#160; <span class="keywordflow">while</span> (az &gt; <a class="code" href="_geometry_8h.html#a952eac791b596a61bba0a133a3bb439f">PI</a>) az -= 2*<a class="code" href="_geometry_8h.html#a952eac791b596a61bba0a133a3bb439f">PI</a>;</div>
+<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>&#160; <span class="keywordflow">while</span> (az &lt; -<a class="code" href="_geometry_8h.html#a952eac791b596a61bba0a133a3bb439f">PI</a>) az += 2*<a class="code" href="_geometry_8h.html#a952eac791b596a61bba0a133a3bb439f">PI</a>;</div>
+<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>&#160;</div>
+<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>&#160; <span class="keywordflow">if</span> (alimit &gt; 0) {</div>
+<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>&#160; <span class="keywordflow">if</span> (az &lt; -alimit) {</div>
+<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>&#160; az = -alimit;</div>
+<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>&#160; locked = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>&#160; }</div>
+<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>&#160; <span class="keywordflow">else</span> <span class="keywordflow">if</span> (az &gt; alimit) {</div>
+<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>&#160; az = alimit;</div>
+<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>&#160; locked = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>&#160; }</div>
+<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>&#160; }</div>
+<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>&#160;</div>
+<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>&#160; <a class="code" href="class_camera.html#ac79dc292c4bbdc2d090646ee37ff0234">Yaw</a>(az);</div>
+<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>&#160;</div>
+<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>&#160; <span class="comment">// Rotate into the new view orientation:</span></div>
+<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>&#160; tgt.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> = (tmp * <a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>());</div>
+<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>&#160; tgt.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> = (tmp * <a class="code" href="class_camera.html#a38ab2061d58da025e9c95267505686ab">vup</a>());</div>
+<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>&#160; tgt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> = (tmp * <a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>());</div>
+<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>&#160;</div>
+<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>&#160; <span class="keywordtype">double</span> el = atan(tgt.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>/tgt.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div>
+<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>&#160;</div>
+<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>&#160; <span class="keywordflow">if</span> (e_lo &gt; 0 &amp;&amp; el &lt; -e_lo) {</div>
+<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>&#160; el = -e_lo;</div>
+<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>&#160; locked = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>&#160; }</div>
+<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>&#160;</div>
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+<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>&#160; el = e_hi;</div>
+<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>&#160; locked = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>&#160; }</div>
+<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>&#160;</div>
+<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>&#160; <a class="code" href="class_camera.html#af60842b1cef936d5d1fbf35e3f2ce58c">Pitch</a>(-el);</div>
+<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>&#160;</div>
+<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>&#160; <span class="keywordflow">return</span> locked;</div>
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+<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>&#160;</div>
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