diff options
author | Julian T <julian@jtle.dk> | 2021-02-02 16:07:16 +0100 |
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committer | Julian T <julian@jtle.dk> | 2021-02-02 16:07:38 +0100 |
commit | d79d5d18c8281cce1e782892e5f85680906481dd (patch) | |
tree | 3429b142fb76c4999afcc62033b7c4fe9f2ff980 | |
parent | df6a266e5823a7fc4cca3060ec86d35f2125cd0d (diff) |
Add matrix and transform implementation
-rw-r--r-- | src/core/matrix4x4.rs | 35 | ||||
-rw-r--r-- | src/core/mod.rs | 2 | ||||
-rw-r--r-- | src/core/transform.rs | 111 | ||||
-rw-r--r-- | src/core/vector3.rs | 9 |
4 files changed, 157 insertions, 0 deletions
diff --git a/src/core/matrix4x4.rs b/src/core/matrix4x4.rs new file mode 100644 index 0000000..521d7ab --- /dev/null +++ b/src/core/matrix4x4.rs @@ -0,0 +1,35 @@ +use crate::{Number, Float}; + +pub struct Matrix4x4<T: Number> { + pub m: [[T; 4]; 4], +} + +pub type Matrix4x4f = Matrix4x4<Float>; + +impl<T: Number> Matrix4x4<T> { + pub fn new(v00: T, v01: T, v02: T, v03: T, + v10: T, v11: T, v12: T, v13: T, + v20: T, v21: T, v22: T, v23: T, + v30: T, v31: T, v32: T, v33: T) -> Self { + Self { + m: [ + [v00, v01, v02, v03], + [v10, v11, v12, v13], + [v20, v21, v22, v23], + [v30, v31, v32, v33], + ], + } + } +} + +impl Matrix4x4f { + pub fn new_ident(v: Float) -> Self { + let z = 0.0; + Self::new( + v, z, z, z, + z, v, z, z, + z, z, v, z, + z, z, z, v, + ) + } +} diff --git a/src/core/mod.rs b/src/core/mod.rs index 938a16e..7885b9e 100644 --- a/src/core/mod.rs +++ b/src/core/mod.rs @@ -2,6 +2,8 @@ pub mod vector2; pub mod vector3; pub mod bound; pub mod spectrum; +pub mod transform; +pub mod matrix4x4; mod ray; pub use vector2::{Vector2i, Vector2f}; diff --git a/src/core/transform.rs b/src/core/transform.rs new file mode 100644 index 0000000..2c2c123 --- /dev/null +++ b/src/core/transform.rs @@ -0,0 +1,111 @@ +use super::matrix4x4::Matrix4x4f; +use crate::Float; +use crate::core::Vector3f; +use std::ops; + +pub struct Transform { + m: Matrix4x4f, +} + +impl Transform { + pub fn new() -> Transform { + Transform { + m: Matrix4x4f::new_ident(1.0), + } + } + + pub fn eval_point(&self, p: &Vector3f) -> Vector3f { + let m = &self.m.m; + let x = m[0][0]*p.x + m[0][1]*p.y + m[0][2]*p.z + m[0][3]; + let y = m[1][0]*p.x + m[1][1]*p.y + m[1][2]*p.z + m[1][3]; + let z = m[2][0]*p.x + m[2][1]*p.y + m[2][2]*p.z + m[2][3]; + let w = m[3][0]*p.x + m[3][1]*p.y + m[3][2]*p.z + m[3][3]; + + let mut out = Vector3f::new_xyz(x, y, z); + if w != 1.0 { + out /= w; + } + + out + } + + // Take care when transforming surface normal vector, TODO implement method for this + pub fn eval_vector(&self, v: &Vector3f) -> Vector3f { + let m = &self.m.m; + let x = m[0][0]*v.x + m[0][1]*v.y + m[0][2]*v.z; + let y = m[1][0]*v.x + m[1][1]*v.y + m[1][2]*v.z; + let z = m[2][0]*v.x + m[2][1]*v.y + m[2][2]*v.z; + + Vector3f::new_xyz(x, y, z) + } +} + +// Creation of different transformations +impl Transform { + pub fn new_translate(delta: &Vector3f) -> Self { + Transform { m: Matrix4x4f::new( + 1.0, 0.0, 0.0, delta.x, + 0.0, 1.0, 0.0, delta.y, + 0.0, 0.0, 1.0, delta.z, + 0.0, 0.0, 0.0, 1.0) + } + } + + pub fn new_scale(x: Float, y: Float, z: Float) -> Self { + Transform { m: Matrix4x4f::new( + x, 0.0, 0.0, 0.0, + 0.0, y, 0.0, 0.0, + 0.0, 0.0, z, 0.0, + 0.0, 0.0, 0.0, 1.0) + } + } + + pub fn new_rotate_x(theta: Float) -> Self { + let theta = theta.to_radians(); + let cost = theta.cos(); + let sint = theta.sin(); + Transform { m: Matrix4x4f::new( + 1.0, 0.0, 0.0, 0.0, + 0.0, cost, -sint, 0.0, + 0.0, sint, cost, 0.0, + 0.0, 0.0, 0.0, 1.0) + } + } + + pub fn new_rotate_y(theta: Float) -> Self { + let theta = theta.to_radians(); + let cost = theta.cos(); + let sint = theta.sin(); + Transform { m: Matrix4x4f::new( + cost, 0.0, sint, 0.0, + 0.0, 1.0, 0.0, 0.0, + -sint, 0.0, cost, 0.0, + 0.0, 0.0, 0.0, 1.0) + } + } + + pub fn new_rotate_z(theta: Float) -> Self { + let theta = theta.to_radians(); + let cost = theta.cos(); + let sint = theta.sin(); + Transform { m: Matrix4x4f::new( + cost, -sint, 0.0, 0.0, + sint, cost, 0.0, 0.0, + 0.0, 0.0, 1.1, 0.0, + 0.0, 0.0, 0.0, 1.0) + } + } + + pub fn new_look_at(pos: &Vector3f, look: &Vector3f, up: &Vector3f) -> Self { + let dir = (*look - *pos).norm(); // This is what the z axis should map to + let right = up.norm().cross(&dir).norm(); + let newup = dir.cross(&right); + + Transform { m: Matrix4x4f::new( + right.x, newup.x, dir.x, pos.x, + right.y, newup.y, dir.y, pos.y, + right.z, newup.z, dir.z, pos.z, + 0.0 , 0.0 , 0.0 , 1.0) + } + } +} diff --git a/src/core/vector3.rs b/src/core/vector3.rs index e3aa9a6..05bd977 100644 --- a/src/core/vector3.rs +++ b/src/core/vector3.rs @@ -81,4 +81,13 @@ impl Vector3f { new.norm_in(); new } + + pub fn cross(&self, op: &Self) -> Self { + Self::new_xyz( + self.y * op.z - self.z * op.y, + self.z * op.x - self.x * op.z, + self.x * op.y - self.y * op.x, + ) + + } } |