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3D Navigation/Camera

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I don''t know if this will help, but since you mention gluLookAt and the up-vector, I can guess what the problem is. Many beginners simply put the up-vector to (0,1,0), interpreting it as the up direction of the world. However, this is not correct, the up vector should be the camera''s (or viewer''s) up. That is, as the viewer turns in the world, the up-vector should rotate so that it is perpendicular to the direction the viewer is looking.

Concerning 3D rotation, you might want to look up quaternions.

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