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XROT INITIALIZE

sync on
sync rate 60

null=make matrix4(1)
null=make vector3(2)
null=make vector3(3)
null=make vector3(4)

make object cube 1,1

set vector3 3,-5,0,30
set vector3 4,8,15,0

objlookat(1,2,3,4,1)

do    
    sync
LOOP

function objlookat(onum,eye,atvnum,upvnum,mnum)
    Set Vector3 eye, object position x(onum),object position y(onum), object position z(onum)
    build lookat rhmatrix4 mnum,eye,atvnum,upvnum
    xrot matrix to euler atvnum,mnum
    rotate object onum, x vector3(atvnum), y vector3(atvnum), z vector3(atvnum)
ENDFUNCTION

XROT INITIALIZE

SYNC ON
SYNC RATE 60

matrix1=DXMAT(0)
vector1=DXVEC3(0)
vector2=DXVEC3(0)
vector3=DXVEC3(0)

make object cube 1,1

DXVEC3 vector2, -5, 0, 30
DXVEC3 vector3, 8, 15, 0

objlookat(1, vector1, vector2, vector3, matrix1)

do    
    sync
LOOP

FUNCTION objlookat(onum,eye,atvnum,upvnum,mnum)
	`a betterway todo this is use DBOBJ GET POSITION eye, onum
	DXVEC3 eye, OBJECT POSITION X(onum), OBJECT POSITION Y(onum), OBJECT POSITION Z(onum)
	DXMAT LOOK AT RH mnum, eye, atvnum, upvnum
	
	`a better way todo next two commands is DBOBJ SET ROTATION MATRIX onum, mnum
	XROT MATRIX TO EULER atvnum,mnum
    ROTATE OBJECT onum, DXVEC3X(atvnum), DXVEC3Y(atvnum), DXVEC3Z(atvnum)
ENDFUNCTION

FOR i=1 TO 1000
	MAKE OBJECT CUBE i, 1
	x = -10 + ((i-1) MOD 10) * 2
	y = -10 + (((i-1) / 10) MOD 10) * 2
	z = -10 + ((i-1) / 100) * 2
	POSITION OBJECT i, x, y, z
	HIDE OBJECT i
NEXT i

POSITION CAMERA 0, 0, -30

DO
	IF NOT OBJECT EXIST(1) THEN CLS
	
	TEXT 0, 0, STR$(SCREEN FPS())
LOOP

END

sync rate 30
sync on

make object cone 1,10
set object cull 1,0
zrotate object 1,270
xrotate object 1,-90
fix object pivot 1

make object sphere 2,5

make object plain 3,25,25
xrotate object 3,270
set object wireframe 3,1

make object plain 4,0.01,25
xrotate object 4,270
set object wireframe 4,1

make object plain 5,25,0.01
xrotate object 5,270
set object wireframe 5,1

x as integer
y as integer
z as integer

do

position camera 0,30,-30
point camera 0,0,0

if inkey$()="8" then z=z+1
if inkey$()="2" then z=z-1

if inkey$()="4" then x=x-1
if inkey$()="6" then x=x+1

if inkey$()="7" then y=y+1
if inkey$()="1" then y=y-1

position object 2,x,y,z

yrotate object 1,atanfull(x,z)
xrotate object 1,atanfull(sqrt(x^2+z^2),y)+90

text 0,0 ,str$(x)+"x  "+str$(y)+"y  "+str$(z)+"z"
text 0,20,str$(object angle x(1))
text 0,40,str$(object angle y(1))
text 0,60,str$(object angle z(1))

text 0,80,"controls are [8] [6] [2] [4] as wasd and [7] [1] as up/down"

sync
LOOP

SYNC ON
SYNC RATE 60

AUTOCAM OFF
POSITION CAMERA 0, 3, -20

`Initialize extendet rotation plugin
XROT INITIALIZE

MAKE OBJECT CUBE 1, 1
POSITION OBJECT 1, 0, -3, 0
SCALE OBJECT 1, 150, 50, 200
ROTATE OBJECT 1, 15, 15, 45

MAKE OBJECT SPHERE 2, 0.5, 8, 8
POSITION OBJECT 2, 0, 3, 0

matres = DXMAT(0)
mat = DXMAT(0)
vec = DXVEC3(0)

a = 0
DO
	a# = WRAPVALUE(a# + 1.0)
	x# = SIN(a#) * 15.0
	z# = COS(a#) * 15.0
	POSITION OBJECT 2, x#, 3, z#

	mat = DBOBJ GET ROTATION MATRIX(mat, 1)
	vec = DBOBJ GET POSITION(vec, 2)
	matres = XROT YAW TO(matres, mat, vec, 180, 0)
	
	DBOBJ SET ROTATION MATRIX 1, matres

	INC a
	
	SYNC
LOOP

public void lookAt(double x0, double y0, double z0, double x1, double y1, double z1, double Vx, double Vy, double Vz){
	  double nx=x0-x1;
	  double ny=y0-y1;
	  double nz=z0-z1;
	  double ux=0.0;
	  double uy=0.0;
	  double uz=0.0;
	  //u=v.cross(n);

	  //normalize
	  double l_n=Math.sqrt(nx*nx+ny*ny+nz*nz);
	  nx/=l_n; ny/=l_n; nz/=l_n;

	  //cross
	  ux=ny * Vz - nz * Vy;
	  uy=nz * Vx - nx * Vz;
	  uz=nx * Vy - ny * Vx;

	  m_view.m[0][0]=ux; m_view.m[0][1]=Vx; m_view.m[0][2]=nx;
	  m_view.m[1][0]=uy; m_view.m[1][1]=Vy; m_view.m[1][2]=ny;
	  m_view.m[2][0]=uz; m_view.m[2][1]=Vz; m_view.m[2][2]=nz; 

	  Matrix3D t=new Matrix3D();
	  t.translate(-x0,-y0,-z0);
	  m_view.mult(t);
	}

XROT ROTATE TO(xrotMatResult, xrotMatObject, xrotVector, Angle#, Axis)
XROT ROTATE TO xrotMatResult, xrotMatObject, xrotVector, Angle#, Axis
Rotate a matrix (xrotMatObject) to a Point in Space (xrotVector) by Angle# degrees. Axis discribes the Axis wich pointing to the coordinate. Valid Values are 1=Right (X-Axis), 2=Up (Y-Axis), 3=Front (Z-Axis). The result is stored in xrotMatResult. The function with braces returns the variable xrotMatResult.

set display mode 1024,768,32
sync on
sync rate 60
autocam off

make object cube 1,50
make object sphere 2,50
position object 2,0,0,0

position object 1,50,50,50
position camera 0,0,-200

do
a# = WRAPVALUE(a# + 1.0)
   x# = SIN(a#) * 150.0
   z# = COS(a#) * 150.0
   POSITION OBJECT 1, x#, 3, z#
point object 1,object position x(2),object position y(2),object position z(2)

sync

loop

set display mode 1024,768,32
sync on
sync rate 60
autocam off

make object cube 1,50
make object sphere 2,50
make object cube 3,10
position object 2,0,0,0
position object 3,0,0,0

position object 1,50,50,50
position camera 0,0,-200
flow = 50
do
a# = WRAPVALUE(a# + 1.0)
   x# = SIN(a#) * 150.0
   z# = COS(a#) * 150.0
   POSITION OBJECT 1, x#, 3, z#
point object 1,object position x(3),object position y(3),object position z(3)
if flow >=0
move object up 3,1
dec flow
if flow = 0 then flow = -50
else
inc flow
if flow = 0 then flow = 50
move object down 3,1
endif

sync

loop

set display mode 1024,768,32
sync on
sync rate 60
autocam off

make object cube 1,50
make object sphere 2,50
make object cube 3,10
position object 2,0,0,0
position object 3,0,0,0

position object 1,50,50,50
position camera 0,0,-200
flow = 50
do
a# = WRAPVALUE(a# + 1.0)
   x# = SIN(a#) * 150.0
   z# = COS(a#) * 150.0
   POSITION OBJECT 1, x#, 3, z#
point object 1,object position x(3),object position y(3),object position z(3)
if flow >=0
move object up 3,1
dec flow
if flow = 0 then flow = -50
else
inc flow
if flow = 0 then flow = 50
move object down 3,1
endif
if leftkey() = 1 then inc d#
if Rightkey() = 1 then dec d#
ROLL OBJECT LEFT 1,WRAPVALUE(d# + 1.0)
sync

loop

gosub declare_math

local camPos as vector3
local axis as vector3
local center as vector3

sync on : sync rate 60
autocam off

for n = 1 to 20
    make object plain n,2,2
    position object n,rnd(12)-6,rnd(12)-6,rnd(12)-6
    set object light n,0
next

do

    cr# = 0 : cf# = 0
    speed# = 0.2
    sm# = 5.0
    
    // camera movement
    if rightkey()=1 or KEYSTATE(32)=1 then cr# = -speed#
    if leftkey()=1 or KEYSTATE(30)=1 then cr# = speed#
    if upkey()=1 or KEYSTATE(17)=1 then cf# = speed#
    if downkey()=1 or KEYSTATE(31)=1 then cf# = -speed#
    ncr#=curvevalue(cr#,ncr#,sm#)
    ncf#=curvevalue(cf#,ncf#,sm#)
    cx#=cx#+mousemovey()*0.2
    cy#=cy#+mousemovex()*0.2
    if cx#>80 then cx#=80
    if cx#<-80  then cx#=-80
    ncx#=curveangle(cx#,ncx#,sm#)
    ncy#=curveangle(cy#,ncy#,sm#)
    move camera ncf#
    rotate camera 0,wrapvalue(ncy#-90),0
    move camera ncr#
    rotate camera 0,wrapvalue(ncy#+90),0        
    rotate camera ncx#,ncy#,0  
    
    camPos.x = camera position x()
    camPos.y = camera position y()   
    camPos.z = camera position z()
    
    // set axis to up vector (0,1,0)
    axis.x = 0
    axis.y = 1
    axis.z = 0

    for n = 1 to 20
        center.x = object position x(n)
        center.y = object position y(n)   
        center.z = object position z(n)
        axisAlignedRotation( camPos, center, axis )
        rotate object n,_vector3.x,_vector3.y,_vector3.z
    next
    
    text 0,0,"WASD to move, Mouse to aim"

    sync
loop

type vector3
    x           as float
    y           as float
    z           as float
endtype

type quat
    x           as float
    y           as float
    z           as float
    w           as float
endtype

declare_math:
    global _vector3         as vector3
    global _quat            as quat
return

// vector3 class
function setVector3( x as float, y as float, z as float )
    _vector3.x = x : _vector3.y = y : _vector3.z = z
endfunction

function normalizeVector3( v as vector3 )

	local mag   as float
	
	mag = lengthVector3( v )
    _vector3.x = v.x/mag
    _vector3.y = v.y/mag
    _vector3.z = v.z/mag
    
endfunction

function lengthVector3( v as vector3 )
    
    local out as float
    out = sqrt(v.x*v.x + v.y*v.y + v.z*v.z)
    
endfunction out

function dotProductVector3( u as vector3, v as vector3 )

    local out as float
    out = ( u.x * v.x + u.y * v.y + u.z * v.z  )
    
endfunction out

function crossVector3( u as vector3, v as vector3 )

    _vector3.x = u.y * v.z - u.z * v.y
    _vector3.y = u.z * v.x - u.x * v.z
    _vector3.z = u.x * v.y - u.y * v.x
    
endfunction

function axisAlignedRotation( camPos as vector3, center as vector3, axis as vector3 )

    local upAux             as vector3
    local objToCamProj      as vector3
    local lookAt            as vector3
    local angleCosine       as float
    
// objToCamProj is the vector in world coordinates from the 
// local origin to the camera projected
    objToCamProj.x = (axis.y || axis.z) * (camPos.x - center.x)
    objToCamProj.y = (axis.x || axis.z) * (camPos.y - center.y)
    objToCamProj.z = (axis.x || axis.y) * (camPos.z - center.z) 
    
// This is the original lookAt vector for the object 
// in world coordinates
    lookAt.x = 0
	lookAt.y = 0
	lookAt.z = 1
	
// normalize both vectors to get the cosine directly afterwards
    normalizeVector3( objToCamProj ) : objToCamProj = _vector3
    
// easy fix to determine wether the angle is negative or positive
// for positive angles upAux will be a vector pointing in the
// positive y direction, otherwise upAux will point downwards
// effectively reversing the rotation.
    crossVector3( lookAt, objToCamProj ) : upAux = _vector3

// compute the angle
	angleCosine = dotProductVector3( lookAt, objToCamProj )
    
    quaternion( upAux.x, upAux.y, upAux.z, angleCosine )
    quaternionToEuler( _quat )
    
endfunction

// quaternion class
function quaternion( x as float, y as float, z as float, w as float )
    _quat.x=x : _quat.y=y : _quat.z=z : _quat.w=w
endfunction

// sets new quaternion based on euler angles
function eulerToQuaternion( x as float, y as float, z as float )

    local angle         as double float
    local sr            as double float
    local cr            as double float
    local sp            as double float    
    local cp            as double float
    local sy            as double float    
    local cy            as double float
    
    local cpcy          as double float    
    local spcy          as double float
    local cpsy          as double float    
    local spsy          as double float
        
    angle = x * 0.5
    sr = sin(angle)
    cr = cos(angle)
    
    angle = y * 0.5
    sp = sin(angle)
    cp = cos(angle)
    
    angle = z * 0.5
    sy = sin(angle)
    cy = cos(angle)
    
    cpcy = cp * cy
    spcy = sp * cy
    cpsy = cp * sy
    spsy = sp * sy
    
    _quat.x = (sr * cpcy - cr * spsy)
    _quat.y = (cr * spcy + sr * cpsy)
    _quat.z = (cr * cpsy - sr * spcy)
    _quat.w = (cr * cpcy + sr * spsy)
    
    normalizeQuaternion()

endfunction

 // normalizes the quaternion
function normalizeQuaternion()

    local n         as float

    n = _quat.x*_quat.x + _quat.y*_quat.y + _quat.z*_quat.z + _quat.w*_quat.w

    if n = 1 then exitfunction n
    n = 1.0 / sqrt(n)

endfunction n

function quaternionToEuler( q as quat )

    local sqw         as float
    local sqx         as float
    local sqy         as float
    local sqz         as float
    local unit        as float
    local test        as float
            
    sqw = q.w * q.w
    sqx = q.x * q.x
    sqy = q.y * q.y
    sqz = q.z * q.z

    unit = sqx + sqy + sqz + sqw
    test = q.x*q.y + q.z*q.w

	if (test > 0.499*unit) // singularity at north pole
		_vector3.y = 2 * atanfull(q.x,q.w)
		_vector3.z = 3.14159265 * .5
		_vector3.x = 0
	   exitfunction
	endif
	
	if (test < -0.499*unit) // singularity at south pole
		_vector3.y = -2 * atanfull(q.x,q.w)
		_vector3.z = -3.14159265 * .5
		_vector3.x = 0
	   exitfunction
	endif
	
    _vector3.y = atanfull(2*q.y*q.w-2*q.x*q.z ,1 - sqx - sqy - sqz + sqw)
	_vector3.z = asin(2*test/unit)
	_vector3.x = atanfull(2*q.x*q.w-2*q.y*q.z ,1 -sqx + sqy - sqz + sqw)

endfunction

axis.x = 1
axis.y = 0
axis.z = 0