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Computer Graphics with OpenGL by Hearn, Baker and Carithers 4th Ed.
3D Transformations (Chapter 8)
3D Viewing (Chapter 9)
Viewing Transformation
Projection Transformation
Thus, the orientation of the view plane, as well as the direction for
the positive z-view axis, can be defined with a view-plane normal
vector N, as shown:
The View-Plane Normal Vector
Vector N is taken to be in the direction from a reference
point Pref to the viewing origin P0, as in Figure 10.
Using the input values for N and V, we can compute a third vector,
U, that is perpendicular to both N and V.
Vector U then defines the direction for the positive x-view axis.
We determine the correct direction for U by taking the vector
cross product of V and N so as to form a right-handed viewing
frame.