/**
* Zooms the camera around the specified focus coordinates.
*
* @param focusX the x coordinate to focus on
* @param focusY the y coordinate to focus on
* @param factor the zoom will be scaled by this factor
*/
public void zoom(double focusX, double focusY, double factor) {
synchronized (mutex) {
Transform focus = Transform.translation(toMetricCoordinates((int) focusX, (int) focusY));
double zoom = RosMath.clamp(getZoom() * factor, MINIMUM_ZOOM, MAXIMUM_ZOOM) / getZoom();
transform = transform.multiply(focus).scale(zoom).multiply(focus.invert());
}
}
/**
* Rotates the camera round the specified coordinates.
*
* @param focusX the x coordinate to focus on
* @param focusY the y coordinate to focus on
* @param deltaAngle the camera will be rotated by {@code deltaAngle} radians
*/
public void rotate(double focusX, double focusY, double deltaAngle) {
synchronized (mutex) {
Transform focus = Transform.translation(toMetricCoordinates((int) focusX, (int) focusY));
transform =
transform
.multiply(focus)
.multiply(Transform.zRotation(deltaAngle))
.multiply(focus.invert());
}
}
/**
* @return the metric coordinates of the provided pixel coordinates where the origin is the top
* left corner of the view
*/
public Vector3 toMetricCoordinates(int x, int y) {
double centeredX = x - viewport.getWidth() / 2.0d;
double centeredY = viewport.getHeight() / 2.0d - y;
return transform.invert().apply(new Vector3(centeredX, centeredY, 0));
}
