perspective_projection_factory.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
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#include <math.h>

#include "rve_render_client/perspective_projection_factory.h"

namespace rve_render_client
{

PerspectiveProjectionFactory::PerspectiveProjectionFactory()
: fovy_(M_PI/4.0)
, near_clip_(0.01)
, far_clip_(2000)
{
}

rve_msgs::Matrix4 PerspectiveProjectionFactory::makeMatrix()
{
  rve_msgs::Matrix4 m;

  float tan_half_fovy = tanf(fovy_ / 2);

  m.m[0*4 + 0] = 2 / (tan_half_fovy * aspect_ratio_);
  m.m[1*4 + 1] = 2 / tan_half_fovy;

  float distance = far_clip_ - near_clip_;
  m.m[2*4 + 2] = -(far_clip_ + near_clip_) / distance;
  m.m[2*4 + 3] = -2 * (far_clip_ * near_clip_) / distance;

  m.m[3*4 + 2] = -1;
  return m;
}

}