Struct urdf_viz::ArcBall

pub struct ArcBall { /* fields omitted */ }

Arc-ball camera mode.

An arc-ball camera is a camera rotating around a fixed point (the focus point) and always looking at it. The following inputs are handled:

• Left button press + drag - rotates the camera around the focus point
• Right button press + drag - translates the focus point on the plane orthogonal to the view direction
• Scroll in/out - zoom in/out
• Enter key - set the focus point to the origin

Implementations

impl ArcBall

pub fn new(eye: Point3<f32>, at: Point3<f32>) -> ArcBall

Create a new arc-ball camera.

pub fn new_with_frustrum(
    fov: f32,
    znear: f32,
    zfar: f32,
    eye: Point3<f32>,
    at: Point3<f32>
) -> ArcBall

Creates a new arc ball camera with default sensitivity values.

pub fn at(&self) -> Point3<f32>

The point the arc-ball is looking at.

pub fn set_at(&mut self, at: Point3<f32>)

Get a mutable reference to the point the camera is looking at.

pub fn yaw(&self) -> f32

The arc-ball camera yaw.

pub fn set_yaw(&mut self, yaw: f32)

Sets the camera yaw. Change this to modify the rotation along the up axis.

pub fn pitch(&self) -> f32

The arc-ball camera pitch.

pub fn set_pitch(&mut self, pitch: f32)

Sets the camera pitch.

pub fn min_pitch(&self) -> f32

The minimum pitch of the camera.

pub fn set_min_pitch(&mut self, min_pitch: f32)

Set the minimum pitch of the camera.

pub fn max_pitch(&self) -> f32

The maximum pitch of the camera.

pub fn set_max_pitch(&mut self, max_pitch: f32)

Set the maximum pitch of the camera.

pub fn dist(&self) -> f32

The distance from the camera position to its view point.

pub fn set_dist(&mut self, dist: f32)

Move the camera such that it is at a given distance from the view point.

pub fn min_dist(&self) -> f32

The minimum distance from the camera position to its view point.

pub fn set_min_dist(&mut self, min_dist: f32)

Set the minimum distance from the camera position to its view point.

pub fn max_dist(&self) -> f32

The maximum distance from the camera position to its view point.

pub fn set_max_dist(&mut self, max_dist: f32)

Set the maximum distance from the camera position to its view point.

pub fn look_at(&mut self, eye: Point3<f32>, at: Point3<f32>)

Move and orient the camera such that it looks at a specific point.

pub fn rotate_button(&self) -> Option<MouseButton>

The button used to rotate the ArcBall camera.

pub fn rebind_rotate_button(&mut self, new_button: Option<MouseButton>)

Set the button used to rotate the ArcBall camera. Use None to disable rotation.

pub fn drag_button(&self) -> Option<MouseButton>

The button used to drag the ArcBall camera.

pub fn rebind_drag_button(&mut self, new_button: Option<MouseButton>)

Set the button used to drag the ArcBall camera. Use None to disable dragging.

pub fn reset_key(&self) -> Option<Key>

The key used to reset the ArcBall camera.

pub fn rebind_reset_key(&mut self, new_key: Option<Key>)

Set the key used to reset the ArcBall camera. Use None to disable reset.

pub fn set_up_axis(&mut self, up_axis: Vector3<f32>)

Sets the up vector of this camera.

Trait Implementations

impl Camera for ArcBall

fn clip_planes(&self) -> (f32, f32)

The clipping planes, aka. (znear, zfar).

fn view_transform(&self) -> Isometry3<f32>

The camera view transform.

fn eye(&self) -> Point3<f32>

The camera position.

fn handle_event(&mut self, canvas: &Canvas, event: &WindowEvent)

Handle a mouse event.

fn upload(
    &self,
    _: usize,
    proj: &mut ShaderUniform<Matrix4<f32>>,
    view: &mut ShaderUniform<Matrix4<f32>>
)

Upload the camera view and projection to the gpu. This can be called multiple times on the render loop.

fn transformation(&self) -> Matrix4<f32>

The transformation applied by the camera to transform a point in world coordinates to a point in device coordinates.

fn inverse_transformation(&self) -> Matrix4<f32>

The transformation applied by the camera to transform point in device coordinates to a point in world coordinate.

fn update(&mut self, _: &Canvas)

Update the camera. This is called once at the beginning of the render loop.

pub fn num_passes(&self) -> usize

The number of passes required by this camera.

pub fn start_pass(&self, _pass: usize, _canvas: &Canvas)

Indicates that a pass will begin.

pub fn render_complete(&self, _canvas: &Canvas)

Indicates that the scene has been rendered and the post-processing is being run.

pub fn project(
    &self,
    world_coord: &Point<f32, 3_usize>,
    size: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>

Converts a 3d point to 2d screen coordinates, assuming the screen has the size size.

pub fn unproject(
    &self,
    window_coord: &Point<f32, 2_usize>,
    size: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> (Point<f32, 3_usize>, Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>)

Converts a point in 2d screen coordinates to a ray (a 3d position and a direction).

impl Clone for ArcBall

fn clone(&self) -> ArcBall

Returns a copy of the value.

pub fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for ArcBall

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.