#![allow(clippy::many_single_char_names)]
pub mod aabb;
pub mod frustum;
pub mod plane;
pub mod ray;
pub mod triangulator;
use crate::{
algebra::{
Matrix3, Matrix4, RealField, Scalar, SimdRealField, UnitQuaternion, Vector2, Vector3,
},
math::ray::IntersectionResult,
num_traits::{NumAssign, Zero},
reflect::prelude::*,
visitor::prelude::*,
};
use std::ops::{Index, IndexMut};
#[derive(Copy, Clone, Debug, PartialEq, Eq, Reflect)]
pub struct Rect<T>
where
T: NumAssign + Scalar + PartialOrd + Copy,
{
pub position: Vector2<T>,
pub size: Vector2<T>,
}
impl<T> Default for Rect<T>
where
T: NumAssign + Scalar + PartialOrd + Copy,
{
fn default() -> Self {
Self {
position: Vector2::new(Zero::zero(), Zero::zero()),
size: Vector2::new(Zero::zero(), Zero::zero()),
}
}
}
impl<T> Rect<T>
where
T: NumAssign + Scalar + PartialOrd + Copy,
{
pub fn new(x: T, y: T, w: T, h: T) -> Self {
Self {
position: Vector2::new(x, y),
size: Vector2::new(w, h),
}
}
pub fn with_position(mut self, position: Vector2<T>) -> Self {
self.position = position;
self
}
pub fn with_size(mut self, size: Vector2<T>) -> Self {
self.size = size;
self
}
#[must_use = "this method creates new instance of rect"]
pub fn inflate(&self, dw: T, dh: T) -> Self {
Self {
position: Vector2::new(self.position.x - dw, self.position.y - dh),
size: Vector2::new(self.size.x + dw + dw, self.size.y + dh + dh),
}
}
#[must_use = "this method creates new instance of rect"]
pub fn deflate(&self, dw: T, dh: T) -> Self {
Self {
position: Vector2::new(self.position.x + dw, self.position.y + dh),
size: Vector2::new(self.size.x - (dw + dw), self.size.y - (dh + dh)),
}
}
pub fn contains(&self, pt: Vector2<T>) -> bool {
pt.x >= self.position.x
&& pt.x <= self.position.x + self.size.x
&& pt.y >= self.position.y
&& pt.y <= self.position.y + self.size.y
}
pub fn center(&self) -> Vector2<T> {
let two = T::one() + T::one();
self.position + Vector2::new(self.size.x / two, self.size.y / two)
}
pub fn push(&mut self, p: Vector2<T>) {
if p.x < self.position.x {
self.position.x = p.x;
}
if p.y < self.position.y {
self.position.y = p.y;
}
let right_bottom = self.right_bottom_corner();
if p.x > right_bottom.x {
self.size.x = p.x - self.position.x;
}
if p.y > right_bottom.y {
self.size.y = p.y - self.position.y;
}
}
#[must_use = "this method creates new instance of rect"]
pub fn clip_by(&self, other: Rect<T>) -> Rect<T> {
let mut clipped = *self;
if clipped.position.x < other.position.x {
clipped.size.x -= other.position.x - clipped.position.x;
clipped.position.x = other.position.x;
}
if clipped.position.y < other.position.y {
clipped.size.y -= other.position.y - clipped.position.y;
clipped.position.y = other.position.y;
}
let clipped_right_bottom = clipped.right_bottom_corner();
let other_right_bottom = other.right_bottom_corner();
if clipped_right_bottom.x > other_right_bottom.x {
clipped.size.x -= clipped_right_bottom.x - other_right_bottom.x;
}
if clipped_right_bottom.y > other_right_bottom.y {
clipped.size.y -= clipped_right_bottom.y - other_right_bottom.y;
}
clipped
}
pub fn intersects(&self, other: Rect<T>) -> bool {
if other.position.x < self.position.x + self.size.x
&& self.position.x < other.position.x + other.size.x
&& other.position.y < self.position.y + self.size.y
{
self.position.y < other.position.y + other.size.y
} else {
false
}
}
#[must_use = "this method creates new instance of rect"]
pub fn translate(&self, translation: Vector2<T>) -> Self {
Self {
position: Vector2::new(
self.position.x + translation.x,
self.position.y + translation.y,
),
size: self.size,
}
}
pub fn intersects_circle(&self, circle: Vector2<T>, radius: T) -> bool {
let r = self.position.x + self.size.x;
let b = self.position.y + self.size.y;
let closest_x = if circle.x < self.position.x {
self.position.x
} else if circle.x > r {
r
} else {
circle.x
};
let closest_y = if circle.y < self.position.y {
self.position.y
} else if circle.y > b {
b
} else {
circle.y
};
let distance_x = circle.x - closest_x;
let distance_y = circle.y - closest_y;
let distance_squared = (distance_x * distance_x) + (distance_y * distance_y);
distance_squared < (radius * radius)
}
pub fn extend_to_contain(&mut self, other: Rect<T>) {
if other.position.x < self.position.x {
self.position.x = other.position.x;
}
if other.position.y < self.position.y {
self.position.y = other.position.y;
}
let self_right_bottom_corner = self.right_bottom_corner();
let other_right_bottom_corner = other.right_bottom_corner();
if other_right_bottom_corner.x > self_right_bottom_corner.x {
self.size.x += other_right_bottom_corner.x - self_right_bottom_corner.x;
}
if other_right_bottom_corner.y > self_right_bottom_corner.y {
self.size.y += other_right_bottom_corner.y - self_right_bottom_corner.y;
}
}
#[inline(always)]
pub fn left_top_corner(&self) -> Vector2<T> {
self.position
}
#[inline(always)]
pub fn right_top_corner(&self) -> Vector2<T> {
Vector2::new(self.position.x + self.size.x, self.position.y)
}
#[inline(always)]
pub fn right_bottom_corner(&self) -> Vector2<T> {
Vector2::new(self.position.x + self.size.x, self.position.y + self.size.y)
}
#[inline(always)]
pub fn left_bottom_corner(&self) -> Vector2<T> {
Vector2::new(self.position.x, self.position.y + self.size.y)
}
#[inline(always)]
pub fn w(&self) -> T {
self.size.x
}
#[inline(always)]
pub fn h(&self) -> T {
self.size.y
}
#[inline(always)]
pub fn x(&self) -> T {
self.position.x
}
#[inline(always)]
pub fn y(&self) -> T {
self.position.y
}
#[inline]
#[must_use]
pub fn transform(&self, matrix: &Matrix3<T>) -> Self {
let min = self.position;
let max = self.right_bottom_corner();
let translation = Vector2::new(matrix[6], matrix[7]);
let mut transformed_min = translation;
let mut transformed_max = translation;
for i in 0..2 {
for j in 0..2 {
let a = matrix[(i, j)] * min[j];
let b = matrix[(i, j)] * max[j];
if a < b {
transformed_min[i] += a;
transformed_max[i] += b;
} else {
transformed_min[i] += b;
transformed_max[i] += a;
}
}
}
Self {
position: transformed_min,
size: transformed_max - transformed_min,
}
}
}
impl<T> Visit for Rect<T>
where
T: NumAssign + Scalar + Visit + PartialOrd + Copy + 'static,
{
fn visit(&mut self, name: &str, visitor: &mut Visitor) -> VisitResult {
let mut region = visitor.enter_region(name)?;
self.position.x.visit("X", &mut region)?;
self.position.y.visit("Y", &mut region)?;
self.size.x.visit("W", &mut region)?;
self.size.y.visit("H", &mut region)?;
Ok(())
}
}
#[derive(Copy, Clone)]
pub enum PlaneClass {
XY,
YZ,
XZ,
}
#[inline]
#[allow(clippy::useless_let_if_seq)]
pub fn classify_plane(normal: Vector3<f32>) -> PlaneClass {
let mut longest = 0.0f32;
let mut class = PlaneClass::XY;
if normal.x.abs() > longest {
longest = normal.x.abs();
class = PlaneClass::YZ;
}
if normal.y.abs() > longest {
longest = normal.y.abs();
class = PlaneClass::XZ;
}
if normal.z.abs() > longest {
class = PlaneClass::XY;
}
class
}
#[inline]
pub fn get_polygon_normal(polygon: &[Vector3<f32>]) -> Result<Vector3<f32>, &'static str> {
let mut normal = Vector3::default();
for (i, current) in polygon.iter().enumerate() {
let next = polygon[(i + 1) % polygon.len()];
normal.x += (current.y - next.y) * (current.z + next.z);
normal.y += (current.z - next.z) * (current.x + next.x);
normal.z += (current.x - next.x) * (current.y + next.y);
}
normal
.try_normalize(f32::EPSILON)
.ok_or("Unable to get normal of degenerated polygon!")
}
#[inline]
pub fn get_signed_triangle_area(v1: Vector2<f32>, v2: Vector2<f32>, v3: Vector2<f32>) -> f32 {
0.5 * (v1.x * (v3.y - v2.y) + v2.x * (v1.y - v3.y) + v3.x * (v2.y - v1.y))
}
#[inline]
pub fn vec3_to_vec2_by_plane(
plane_class: PlaneClass,
normal: Vector3<f32>,
point: Vector3<f32>,
) -> Vector2<f32> {
match plane_class {
PlaneClass::XY => {
if normal.z < 0.0 {
Vector2::new(point.y, point.x)
} else {
Vector2::new(point.x, point.y)
}
}
PlaneClass::XZ => {
if normal.y < 0.0 {
Vector2::new(point.x, point.z)
} else {
Vector2::new(point.z, point.x)
}
}
PlaneClass::YZ => {
if normal.x < 0.0 {
Vector2::new(point.z, point.y)
} else {
Vector2::new(point.y, point.z)
}
}
}
}
#[inline]
pub fn is_point_inside_2d_triangle(
point: Vector2<f32>,
pt_a: Vector2<f32>,
pt_b: Vector2<f32>,
pt_c: Vector2<f32>,
) -> bool {
let ba = pt_b - pt_a;
let ca = pt_c - pt_a;
let vp = point - pt_a;
let ba_dot_ba = ba.dot(&ba);
let ca_dot_ba = ca.dot(&ba);
let ca_dot_ca = ca.dot(&ca);
let dot_02 = ca.dot(&vp);
let dot_12 = ba.dot(&vp);
let inv_denom = 1.0 / (ca_dot_ca * ba_dot_ba - ca_dot_ba.powi(2));
let u = (ba_dot_ba * dot_02 - ca_dot_ba * dot_12) * inv_denom;
let v = (ca_dot_ca * dot_12 - ca_dot_ba * dot_02) * inv_denom;
(u >= 0.0) && (v >= 0.0) && (u + v < 1.0)
}
#[inline]
pub fn wrap_angle(angle: f32) -> f32 {
let two_pi = 2.0 * std::f32::consts::PI;
if angle > 0.0 {
angle % two_pi
} else {
(angle + two_pi) % two_pi
}
}
#[inline]
pub fn ieee_remainder(x: f32, y: f32) -> f32 {
x - (x / y).round() * y
}
#[inline]
pub fn round_to_step(x: f32, step: f32) -> f32 {
x - ieee_remainder(x, step)
}
#[inline]
pub fn wrapf(mut n: f32, mut min_limit: f32, mut max_limit: f32) -> f32 {
if n >= min_limit && n <= max_limit {
return n;
}
if max_limit == 0.0 && min_limit == 0.0 {
return 0.0;
}
max_limit -= min_limit;
let offset = min_limit;
min_limit = 0.0;
n -= offset;
let num_of_max = (n / max_limit).abs().floor();
if n >= max_limit {
n -= num_of_max * max_limit;
} else if n < min_limit {
n += (num_of_max + 1.0) * max_limit;
}
n + offset
}
#[inline(always)]
pub fn lerpf(a: f32, b: f32, t: f32) -> f32 {
a + (b - a) * t
}
#[inline]
pub fn cubicf(p0: f32, p1: f32, t: f32, m0: f32, m1: f32) -> f32 {
let t2 = t * t;
let t3 = t2 * t;
let scale = (p1 - p0).abs();
(2.0 * t3 - 3.0 * t2 + 1.0) * p0
+ (t3 - 2.0 * t2 + t) * m0 * scale
+ (-2.0 * t3 + 3.0 * t2) * p1
+ (t3 - t2) * m1 * scale
}
#[inline]
pub fn cubicf_derivative(p0: f32, p1: f32, t: f32, m0: f32, m1: f32) -> f32 {
let t2 = t * t;
let scale = (p1 - p0).abs();
(6.0 * t2 - 6.0 * t) * p0
+ (3.0 * t2 - 4.0 * t + 1.0) * m0 * scale
+ (6.0 * t - 6.0 * t2) * p1
+ (3.0 * t2 - 2.0 * t) * m1 * scale
}
#[inline]
pub fn inf_sup_cubicf(p0: f32, p1: f32, m0: f32, m1: f32) -> (f32, f32) {
let d = -(9.0 * p0 * p0 + 6.0 * p0 * (-3.0 * p1 + m1 + m0) + 9.0 * p1 * p1
- 6.0 * p1 * (m1 + m0)
+ m1 * m1
+ m1 * m0
+ m0 * m0)
.sqrt();
let k = 3.0 * (2.0 * p0 - 2.0 * p1 + m1 + m0);
let v = 3.0 * p0 - 3.0 * p1 + m1 + 2.0 * m0;
let t0 = (-d + v) / k;
let t1 = (d + v) / k;
(cubicf(p0, p1, t0, m0, m1), cubicf(p0, p1, t1, m0, m1))
}
#[inline]
pub fn get_farthest_point(points: &[Vector3<f32>], dir: Vector3<f32>) -> Vector3<f32> {
let mut n_farthest = 0;
let mut max_dot = -f32::MAX;
for (i, point) in points.iter().enumerate() {
let dot = dir.dot(point);
if dot > max_dot {
n_farthest = i;
max_dot = dot
}
}
points[n_farthest]
}
#[inline]
pub fn get_barycentric_coords(
p: &Vector3<f32>,
a: &Vector3<f32>,
b: &Vector3<f32>,
c: &Vector3<f32>,
) -> (f32, f32, f32) {
let v0 = *b - *a;
let v1 = *c - *a;
let v2 = *p - *a;
let d00 = v0.dot(&v0);
let d01 = v0.dot(&v1);
let d11 = v1.dot(&v1);
let d20 = v2.dot(&v0);
let d21 = v2.dot(&v1);
let denom = d00 * d11 - d01.powi(2);
let v = (d11 * d20 - d01 * d21) / denom;
let w = (d00 * d21 - d01 * d20) / denom;
let u = 1.0 - v - w;
(u, v, w)
}
#[inline]
pub fn get_barycentric_coords_2d(
p: Vector2<f32>,
a: Vector2<f32>,
b: Vector2<f32>,
c: Vector2<f32>,
) -> (f32, f32, f32) {
let v0 = b - a;
let v1 = c - a;
let v2 = p - a;
let d00 = v0.dot(&v0);
let d01 = v0.dot(&v1);
let d11 = v1.dot(&v1);
let d20 = v2.dot(&v0);
let d21 = v2.dot(&v1);
let inv_denom = 1.0 / (d00 * d11 - d01.powi(2));
let v = (d11 * d20 - d01 * d21) * inv_denom;
let w = (d00 * d21 - d01 * d20) * inv_denom;
let u = 1.0 - v - w;
(u, v, w)
}
#[inline]
pub fn barycentric_to_world(
bary: (f32, f32, f32),
pa: Vector3<f32>,
pb: Vector3<f32>,
pc: Vector3<f32>,
) -> Vector3<f32> {
pa.scale(bary.0) + pb.scale(bary.1) + pc.scale(bary.2)
}
#[inline]
pub fn barycentric_is_inside(bary: (f32, f32, f32)) -> bool {
(bary.0 >= 0.0) && (bary.1 >= 0.0) && (bary.0 + bary.1 < 1.0)
}
#[inline]
pub fn is_point_inside_triangle(p: &Vector3<f32>, vertices: &[Vector3<f32>; 3]) -> bool {
let ba = vertices[1] - vertices[0];
let ca = vertices[2] - vertices[0];
let vp = *p - vertices[0];
let ba_dot_ba = ba.dot(&ba);
let ca_dot_ba = ca.dot(&ba);
let ca_dot_ca = ca.dot(&ca);
let dot02 = ca.dot(&vp);
let dot12 = ba.dot(&vp);
let inv_denom = 1.0 / (ca_dot_ca * ba_dot_ba - ca_dot_ba.powi(2));
let u = (ba_dot_ba * dot02 - ca_dot_ba * dot12) * inv_denom;
let v = (ca_dot_ca * dot12 - ca_dot_ba * dot02) * inv_denom;
(u >= 0.0) && (v >= 0.0) && (u + v < 1.0)
}
#[inline]
pub fn triangle_area(a: Vector3<f32>, b: Vector3<f32>, c: Vector3<f32>) -> f32 {
(b - a).cross(&(c - a)).norm() * 0.5
}
#[inline]
pub fn solve_quadratic(a: f32, b: f32, c: f32) -> Option<[f32; 2]> {
let discriminant = b * b - 4.0 * a * c;
if discriminant < 0.0 {
None
} else {
let _2a = 2.0 * a;
let discr_root = discriminant.sqrt();
let r1 = (-b + discr_root) / _2a;
let r2 = (-b - discr_root) / _2a;
Some([r1, r2])
}
}
#[inline]
pub fn spherical_to_cartesian(azimuth: f32, elevation: f32, radius: f32) -> Vector3<f32> {
let x = radius * elevation.sin() * azimuth.sin();
let y = radius * elevation.cos();
let z = -radius * elevation.sin() * azimuth.cos();
Vector3::new(x, y, z)
}
#[inline]
pub fn ray_rect_intersection(
rect: Rect<f32>,
origin: Vector2<f32>,
dir: Vector2<f32>,
) -> Option<IntersectionResult> {
let min = rect.left_top_corner();
let max = rect.right_bottom_corner();
let (mut tmin, mut tmax) = if dir.x >= 0.0 {
((min.x - origin.x) / dir.x, (max.x - origin.x) / dir.x)
} else {
((max.x - origin.x) / dir.x, (min.x - origin.x) / dir.x)
};
let (tymin, tymax) = if dir.y >= 0.0 {
((min.y - origin.y) / dir.y, (max.y - origin.y) / dir.y)
} else {
((max.y - origin.y) / dir.y, (min.y - origin.y) / dir.y)
};
if tmin > tymax || tymin > tmax {
return None;
}
if tymin > tmin {
tmin = tymin;
}
if tymax < tmax {
tmax = tymax;
}
if tmin <= 1.0 && tmax >= 0.0 {
Some(IntersectionResult {
min: tmin,
max: tmax,
})
} else {
None
}
}
#[derive(Clone, Debug, Default)]
#[repr(C)]
pub struct TriangleEdge {
a: u32,
b: u32,
}
impl PartialEq for TriangleEdge {
fn eq(&self, other: &Self) -> bool {
self.a == other.a && self.b == other.b || self.a == other.b && self.b == other.a
}
}
impl Eq for TriangleEdge {}
#[derive(Clone, PartialEq, Eq, Debug, Default, Hash)]
#[repr(C)]
pub struct TriangleDefinition(pub [u32; 3]);
impl TriangleDefinition {
#[inline]
pub fn indices(&self) -> &[u32] {
self.as_ref()
}
#[inline]
pub fn indices_mut(&mut self) -> &mut [u32] {
self.as_mut()
}
#[inline]
pub fn edges(&self) -> [TriangleEdge; 3] {
[
TriangleEdge {
a: self.0[0],
b: self.0[1],
},
TriangleEdge {
a: self.0[1],
b: self.0[2],
},
TriangleEdge {
a: self.0[2],
b: self.0[0],
},
]
}
}
impl Visit for TriangleDefinition {
fn visit(&mut self, name: &str, visitor: &mut Visitor) -> VisitResult {
let mut region = visitor.enter_region(name)?;
self.0[0].visit("A", &mut region)?;
self.0[1].visit("B", &mut region)?;
self.0[2].visit("C", &mut region)?;
Ok(())
}
}
impl Index<usize> for TriangleDefinition {
type Output = u32;
#[inline]
fn index(&self, index: usize) -> &Self::Output {
&self.0[index]
}
}
impl IndexMut<usize> for TriangleDefinition {
#[inline]
fn index_mut(&mut self, index: usize) -> &mut Self::Output {
&mut self.0[index]
}
}
pub trait PositionProvider: Sized {
fn position(&self) -> Vector3<f32>;
}
impl PositionProvider for Vector3<f32> {
#[inline]
fn position(&self) -> Vector3<f32> {
*self
}
}
impl AsRef<[u32]> for TriangleDefinition {
#[inline]
fn as_ref(&self) -> &[u32] {
&self.0
}
}
impl AsMut<[u32]> for TriangleDefinition {
#[inline]
fn as_mut(&mut self) -> &mut [u32] {
&mut self.0
}
}
#[inline]
pub fn get_closest_point<P: PositionProvider>(points: &[P], point: Vector3<f32>) -> Option<usize> {
let mut closest_sqr_distance = f32::MAX;
let mut closest_index = None;
for (i, vertex) in points.iter().enumerate() {
let sqr_distance = (vertex.position() - point).norm_squared();
if sqr_distance < closest_sqr_distance {
closest_sqr_distance = sqr_distance;
closest_index = Some(i);
}
}
closest_index
}
#[inline]
pub fn get_closest_point_triangles<P: PositionProvider>(
points: &[P],
triangles: &[TriangleDefinition],
triangle_indices: &[u32],
point: Vector3<f32>,
) -> Option<usize> {
let mut closest_sqr_distance = f32::MAX;
let mut closest_index = None;
for triangle_index in triangle_indices {
let triangle = triangles.get(*triangle_index as usize).unwrap();
for point_index in triangle.0.iter() {
let vertex = points.get(*point_index as usize).unwrap();
let sqr_distance = (vertex.position() - point).norm_squared();
if sqr_distance < closest_sqr_distance {
closest_sqr_distance = sqr_distance;
closest_index = Some(*point_index as usize);
}
}
}
closest_index
}
#[inline]
pub fn get_closest_point_triangle_set<P: PositionProvider>(
points: &[P],
triangles: &[TriangleDefinition],
point: Vector3<f32>,
) -> Option<usize> {
let mut closest_sqr_distance = f32::MAX;
let mut closest_index = None;
for triangle in triangles {
for point_index in triangle.0.iter() {
let vertex = points.get(*point_index as usize).unwrap();
let sqr_distance = (vertex.position() - point).norm_squared();
if sqr_distance < closest_sqr_distance {
closest_sqr_distance = sqr_distance;
closest_index = Some(*point_index as usize);
}
}
}
closest_index
}
#[derive(Debug, PartialEq, Visit, Reflect, Clone)]
pub struct SmoothAngle {
pub angle: f32,
pub target: f32,
pub speed: f32,
}
impl SmoothAngle {
#[inline]
pub fn set_target(&mut self, angle: f32) -> &mut Self {
self.target = angle;
self
}
#[inline]
pub fn update(&mut self, dt: f32) -> &mut Self {
self.target = wrap_angle(self.target);
self.angle = wrap_angle(self.angle);
if !self.at_target() {
let delta = self.speed * dt;
if self.distance().abs() > delta {
self.angle += self.turn_direction() * delta;
} else {
self.angle = self.target;
}
}
self
}
#[inline]
pub fn set_speed(&mut self, speed: f32) -> &mut Self {
self.speed = speed;
self
}
#[inline]
pub fn set_angle(&mut self, angle: f32) -> &mut Self {
self.angle = angle;
self
}
#[inline]
pub fn angle(&self) -> f32 {
self.angle
}
#[inline]
pub fn at_target(&self) -> bool {
(self.target - self.angle).abs() <= f32::EPSILON
}
#[inline]
pub fn distance(&self) -> f32 {
let diff = (self.target - self.angle + std::f32::consts::PI) % std::f32::consts::TAU
- std::f32::consts::PI;
if diff < -std::f32::consts::PI {
diff + std::f32::consts::TAU
} else {
diff
}
}
#[inline]
fn turn_direction(&self) -> f32 {
let distance = self.distance();
if distance < 0.0 {
if distance < -std::f32::consts::PI {
1.0
} else {
-1.0
}
} else if distance > std::f32::consts::PI {
-1.0
} else {
1.0
}
}
}
impl Default for SmoothAngle {
fn default() -> Self {
Self {
angle: 0.0,
target: 0.0,
speed: 1.0,
}
}
}
#[derive(Copy, Clone, Hash, PartialOrd, PartialEq, Ord, Eq)]
pub enum RotationOrder {
XYZ,
XZY,
YZX,
YXZ,
ZXY,
ZYX,
}
#[inline]
pub fn quat_from_euler<T: SimdRealField + RealField + Copy + Clone>(
euler_radians: Vector3<T>,
order: RotationOrder,
) -> UnitQuaternion<T> {
let qx = UnitQuaternion::from_axis_angle(&Vector3::x_axis(), euler_radians.x);
let qy = UnitQuaternion::from_axis_angle(&Vector3::y_axis(), euler_radians.y);
let qz = UnitQuaternion::from_axis_angle(&Vector3::z_axis(), euler_radians.z);
match order {
RotationOrder::XYZ => qz * qy * qx,
RotationOrder::XZY => qy * qz * qx,
RotationOrder::YZX => qx * qz * qy,
RotationOrder::YXZ => qz * qx * qy,
RotationOrder::ZXY => qy * qx * qz,
RotationOrder::ZYX => qx * qy * qz,
}
}
pub trait Matrix4Ext<T: Scalar> {
fn side(&self) -> Vector3<T>;
fn up(&self) -> Vector3<T>;
fn look(&self) -> Vector3<T>;
fn position(&self) -> Vector3<T>;
fn basis(&self) -> Matrix3<T>;
}
impl<T: Scalar + Default + Copy + Clone> Matrix4Ext<T> for Matrix4<T> {
fn side(&self) -> Vector3<T> {
Vector3::new(self[0], self[1], self[2])
}
fn up(&self) -> Vector3<T> {
Vector3::new(self[4], self[5], self[6])
}
fn look(&self) -> Vector3<T> {
Vector3::new(self[8], self[9], self[10])
}
fn position(&self) -> Vector3<T> {
Vector3::new(self[12], self[13], self[14])
}
fn basis(&self) -> Matrix3<T> {
self.fixed_resize::<3, 3>(T::default())
}
}
pub trait Matrix3Ext<T: Scalar> {
fn side(&self) -> Vector3<T>;
fn up(&self) -> Vector3<T>;
fn look(&self) -> Vector3<T>;
}
impl<T: Scalar + Copy + Clone> Matrix3Ext<T> for Matrix3<T> {
fn side(&self) -> Vector3<T> {
Vector3::new(self[0], self[1], self[2])
}
fn up(&self) -> Vector3<T> {
Vector3::new(self[3], self[4], self[5])
}
fn look(&self) -> Vector3<T> {
Vector3::new(self[6], self[7], self[8])
}
}
pub trait Vector3Ext {
fn follow(&mut self, other: &Self, fraction: f32);
fn sqr_distance(&self, other: &Self) -> f32;
fn non_uniform_scale(&self, other: &Self) -> Self;
}
impl Vector3Ext for Vector3<f32> {
#[inline]
fn follow(&mut self, other: &Self, fraction: f32) {
self.x += (other.x - self.x) * fraction;
self.y += (other.y - self.y) * fraction;
self.z += (other.z - self.z) * fraction;
}
#[inline]
fn sqr_distance(&self, other: &Self) -> f32 {
(self - other).norm_squared()
}
#[inline]
fn non_uniform_scale(&self, other: &Self) -> Self {
Self::new(self.x * other.x, self.y * other.y, self.z * other.z)
}
}
pub trait Vector2Ext {
fn follow(&mut self, other: &Self, fraction: f32);
fn per_component_min(&self, other: &Self) -> Self;
fn per_component_max(&self, other: &Self) -> Self;
}
impl Vector2Ext for Vector2<f32> {
#[inline]
fn follow(&mut self, other: &Self, fraction: f32) {
self.x += (other.x - self.x) * fraction;
self.y += (other.y - self.y) * fraction;
}
#[inline]
fn per_component_min(&self, other: &Self) -> Self {
Self::new(self.x.min(other.x), self.y.min(other.y))
}
#[inline]
fn per_component_max(&self, other: &Self) -> Self {
Self::new(self.x.max(other.x), self.y.max(other.y))
}
}
#[inline]
pub fn vector_to_quat(vec: Vector3<f32>) -> UnitQuaternion<f32> {
let dot = vec.normalize().dot(&Vector3::y());
if dot.abs() > 1.0 - 10.0 * f32::EPSILON {
UnitQuaternion::from_axis_angle(&Vector3::x_axis(), -dot.signum() * 90.0f32.to_radians())
} else {
UnitQuaternion::face_towards(&vec, &Vector3::y())
}
}
#[inline]
pub fn m4x4_approx_eq(a: &Matrix4<f32>, b: &Matrix4<f32>) -> bool {
a.iter()
.zip(b.iter())
.all(|(a, b)| (*a - *b).abs() <= 0.001)
}
#[cfg(test)]
mod test {
use crate::algebra::Vector2;
use crate::math::Rect;
use crate::math::SmoothAngle;
#[test]
fn ray_rect_intersection() {
let rect = Rect::new(0.0, 0.0, 10.0, 10.0);
assert!(super::ray_rect_intersection(
rect,
Vector2::new(-1.0, 5.0),
Vector2::new(1.0, 0.0)
)
.is_some());
assert!(super::ray_rect_intersection(
rect,
Vector2::new(5.0, -1.0),
Vector2::new(0.0, 1.0)
)
.is_some());
}
#[test]
fn smooth_angle() {
let mut angle = SmoothAngle {
angle: 290.0f32.to_radians(),
target: 90.0f32.to_radians(),
speed: 100.0f32.to_radians(),
};
while !angle.at_target() {
println!("{}", angle.update(1.0).angle().to_degrees());
}
}
}