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Luca D

Rotating around a point

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Hello, I have a camera able to freely move around the world and I'm trying to add the possibility to rotate around a point/target. In agreement with the theory explained here: http://www.euclideanspace.com/maths/geometry/affine/aroundPoint/index.htm I wrote the following code:
void CCamera::SetModelViewMatrix()
{
  glMatrixMode(GL_MODELVIEW);
  glLoadIdentity();
	
  CVector position = GetPosition();
  CVector forward = GetForward();
  CVector up = GetUp();

  if(!hasTarget)
  {
    gluLookAt(
      position.x, position.y, position.z,
      position.x + forward.x, position.y + forward.y, position.z + forward.z,
      up.x, up.y, up.z);
  }
  else
  {
    gluLookAt(
      position.x, position.y, position.z,
      targetPoint.x, targetPoint.y, targetPoint.z,
      up.x, up.y, up.z);
  }
}

const CVector& CCamera::GetPosition() const
{
  return transformation.translation;
}

CVector CCamera::GetUp() const
{
  return transformation.rotation * CVector(0.0f, 1.0f, 0.0f);
}

CVector CCamera::GetForward() const
{
  return transformation.rotation * CVector(0.0f, 0.0f, 1.0f);
}

void CCamera::Rotate(float rotX, float rotY)
{
  pitch = fmod(pitch + rotX, 360.0f);
  yaw = fmod(yaw + rotY, 360.0f);
  CMatrix3f rot = CreateRotationYXZMatrix(pitch, yaw, 0.0f);

  // The rotation is the same with or without target
  transformation.rotation = rot; 

  if(hasTarget)
  {
    /*
	r00, r01, r02, x - r00*x - r01*y - r02*z
	r10, r11, r12, y - r10*x - r11*y - r12*z
	r20, r21, r22, z - r20*x - r21*y - r22*z
	0,   0,   0,   1
    */
    CVector transl = targetPoint - transformation.translation;
		
    transformation.translation.x =
      transl.x - rot(0,0)*transl.x - rot(0,1)*transl.y - rot(0,2)*transl.z;
    transformation.translation.y =
      transl.y - rot(1,0)*transl.x - rot(1,1)*transl.y - rot(1,2)*transl.z;
    transformation.translation.z =
      transl.z - rot(2,0)*transl.x - rot(2,1)*transl.y - rot(2,2)*transl.z;
  }
}

As I said, the rotation without target works, while I can't understand what's wrong with a target. Rotating with a target set, the only thing I see is that the camera goes quickly further away.. this makes me think the problem could be in: CVector transl = targetPoint - transformation.translation; but that's actually the vector between the camera and the target. Any help is really appreciated. Thanks.

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