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use std::mem::zeroed;
use std::ops::*;
use vector::{Vector, Vector3};
pub type Row = [f32; 4];
#[derive(PartialEq, Clone, Debug)]
pub struct Matrix { m: [Row; 4] }
impl Matrix {
pub fn zero() -> Self { unsafe { zeroed() } }
pub fn new(
m00: f32, m01: f32, m02: f32, m03: f32,
m10: f32, m11: f32, m12: f32, m13: f32,
m20: f32, m21: f32, m22: f32, m23: f32,
m30: f32, m31: f32, m32: f32, m33: f32,
) -> Self {
Matrix {
m: [
[ m00, m01, m02, m03 ],
[ m10, m11, m12, m13 ],
[ m20, m21, m22, m23 ],
[ m30, m31, m32, m33 ],
]
}
}
pub fn identity() -> Self {
Matrix {
m: [
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.0],
[0.0, 0.0, 0.0, 1.0],
]
}
}
pub fn rotation_x(rad: f32) -> Self {
let (sin, cos) = rad.sin_cos();
Matrix {
m: [
[1.0, 0.0, 0.0, 0.0],
[0.0, cos, sin, 0.0],
[0.0, -sin, cos, 0.0],
[0.0, 0.0, 0.0, 1.0],
]
}
}
pub fn rotation_y(rad: f32) -> Self {
let (sin, cos) = rad.sin_cos();
Matrix {
m: [
[cos, 0.0, -sin, 0.0],
[0.0, 1.0, 0.0, 0.0],
[sin, 0.0, cos, 0.0],
[0.0, 0.0, 0.0, 1.0],
]
}
}
pub fn rotation_z(rad: f32) -> Self {
let (sin, cos) = rad.sin_cos();
Matrix {
m: [
[ cos, sin, 0.0, 0.0],
[-sin, cos, 0.0, 0.0],
[ 0.0, 0.0, 1.0, 0.0],
[ 0.0, 0.0, 0.0, 1.0],
]
}
}
pub fn orthographic(view_width: f32, view_height: f32, near_z: f32, far_z: f32) -> Self {
let f_range = 1.0/(near_z - far_z);
Matrix {
m: [
[2.0/view_width, 0.0, 0.0, 0.0],
[0.0, 2.0/view_height, 0.0, 0.0],
[0.0, 0.0, f_range, 0.0],
[0.0, 0.0, f_range*near_z, 1.0],
]
}
}
pub fn orthographic_off_center(view_left: f32, view_right: f32, view_bottom: f32, view_top: f32, near_z: f32, far_z: f32) -> Self {
let r_width = 1.0/(view_right - view_left);
let r_height = 1.0/(view_top - view_bottom);
let range = 1.0/(near_z-far_z);
Matrix {
m: [
[r_width + r_width, 0.0, 0.0, 0.0],
[0.0, r_height + r_height, 0.0, 0.0],
[0.0, 0.0, range, 0.0],
[-(view_left + view_right)*r_width, -(view_top + view_bottom)*r_height, range*near_z, 1.0],
]
}
}
pub fn look_at(eye: Vector3, focus: Vector3, up: Vector3) -> Self {
Self::look_to(eye, focus - eye, up)
}
pub fn look_to(eye: Vector3, dir: Vector3, up: Vector3) -> Self {
assert!(dir != Vector3::zero());
assert!(!dir.is_infinite());
assert!(up != Vector3::zero());
assert!(!up.is_infinite());
let neg_eye = -eye;
let neg_dir = -dir;
let r2 = neg_dir.normalize();
let r0 = up.cross(&r2).normalize();
let r1 = r2.cross(&r0);
let d0 = r0.dot(&neg_eye);
let d1 = r1.dot(&neg_eye);
let d2 = r2.dot(&neg_eye);
Matrix {
m: [
[r0.x, r1.x, r2.x, 0.0],
[r0.y, r1.y, r2.y, 0.0],
[r0.z, r1.z, r2.z, 0.0],
[d0, d1, d2, 1.0],
]
}
}
pub fn perspective(width: f32, height: f32, near_z: f32, far_z: f32) -> Self {
let two_near_z = near_z + near_z;
let range = far_z/(near_z - far_z);
Matrix {
m: [
[two_near_z/width, 0.0, 0.0, 0.0],
[0.0, two_near_z/height, 0.0, 0.0],
[0.0, 0.0, range, -1.0],
[0.0, 0.0, range*near_z, 0.0],
]
}
}
pub fn perspective_fov(fov: f32, aspect: f32, near_z: f32, far_z: f32) -> Self {
let (sin, cos) = (0.5 * fov).sin_cos();
let f = cos/sin;
let range = far_z/(near_z - far_z);
Matrix {
m: [
[f/aspect, 0.0, 0.0, 0.0],
[0.0, f, 0.0, 0.0],
[0.0, 0.0, range, -1.0],
[0.0, 0.0, range*near_z, 0.0],
]
}
}
pub fn translation(ox: f32, oy: f32, oz: f32) -> Self {
Matrix {
m: [
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.0],
[ox, oy, oz, 1.0],
]
}
}
pub fn transpose(self) -> Self {
Matrix {
m: [
[self.m[0][0], self.m[1][0], self.m[2][0], self.m[3][0]],
[self.m[0][1], self.m[1][1], self.m[2][1], self.m[3][1]],
[self.m[0][2], self.m[1][2], self.m[2][2], self.m[3][2]],
[self.m[0][3], self.m[1][3], self.m[2][3], self.m[3][3]],
]
}
}
}
impl Mul for Matrix {
type Output = Matrix;
fn mul(self, rhs: Matrix) -> Matrix { &self * &rhs }
}
impl<'a> Mul<Matrix> for &'a Matrix {
type Output = Matrix;
fn mul(self, rhs: Matrix) -> Matrix { self * &rhs }
}
impl<'a> Mul<&'a Matrix> for Matrix {
type Output = Matrix;
fn mul(self, rhs: &'a Matrix) -> Matrix { &self * rhs }
}
impl<'a, 'b> Mul<&'a Matrix> for &'b Matrix {
type Output = Matrix;
fn mul(self, rhs: &'a Matrix) -> Matrix {
macro_rules! row {
($col:expr) => ({
let x = self.m[$col][0];
let y = self.m[$col][1];
let z = self.m[$col][2];
let w = self.m[$col][3];
[
(rhs.m[0][0]*x)+(rhs.m[1][0]*y)+(rhs.m[2][0]*z)+(rhs.m[3][0]*w),
(rhs.m[0][1]*x)+(rhs.m[1][1]*y)+(rhs.m[2][1]*z)+(rhs.m[3][1]*w),
(rhs.m[0][2]*x)+(rhs.m[1][2]*y)+(rhs.m[2][2]*z)+(rhs.m[3][2]*w),
(rhs.m[0][3]*x)+(rhs.m[1][3]*y)+(rhs.m[2][3]*z)+(rhs.m[3][3]*w),
]
})
}
Matrix { m: [ row!(0), row!(1), row!(2), row!(3) ] }
}
}
impl Index<usize> for Matrix {
type Output = [f32;4];
fn index<'a>(&'a self, index: usize) -> &'a Self::Output {
&self.m[index]
}
}
impl Into<[[f32; 4]; 4]> for Matrix {
fn into(self) -> [[f32; 4]; 4] { self.m }
}
#[cfg(feature = "glium-support")]
mod glium_support {
use super::Matrix;
use glium::uniforms::{AsUniformValue, UniformValue};
impl AsUniformValue for Matrix {
fn as_uniform_value(&self) -> UniformValue<'static> {
UniformValue::Mat4(self.m)
}
}
}