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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)
}
}
}
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