embedded_gfx/

lib.rs

use std::f32::consts;

use embedded_graphics_core::pixelcolor::Rgb565;
use embedded_graphics_core::pixelcolor::RgbColor;
use mesh::K3dMesh;
use mesh::RenderMode;
use nalgebra::Isometry3;
use nalgebra::Matrix4;
use nalgebra::Perspective3;
use nalgebra::Point2;
use nalgebra::Point3;
use nalgebra::Similarity3;
use nalgebra::UnitQuaternion;
use nalgebra::Vector3;

pub mod draw;
pub mod framebuffer;
pub mod mesh;
pub mod perfcounter;

#[derive(Debug)]
pub enum DrawPrimitive {
    ColoredPoint(Point2<i32>, Rgb565),
    Line(Point2<i32>, Point2<i32>, Rgb565),
    ColoredTriangle(Point2<i32>, Point2<i32>, Point2<i32>, Rgb565),
}

pub struct K3dCamera {
    pub position: Point3<f32>,
    fov: f32,
    near: f32,
    far: f32,
    pub view_matrix: nalgebra::Matrix4<f32>,
    projection_matrix: nalgebra::Matrix4<f32>,
    vp_matrix: nalgebra::Matrix4<f32>,
    target: Point3<f32>,
    aspect_ratio: f32,
}

impl K3dCamera {
    pub fn new(aspect_ratio: f32) -> K3dCamera {
        let mut ret = K3dCamera {
            position: Point3::new(0.0, 0.0, 0.0),
            fov: consts::PI / 2.0,
            view_matrix: nalgebra::Matrix4::identity(),
            projection_matrix: nalgebra::Matrix4::identity(),
            vp_matrix: nalgebra::Matrix4::identity(),
            target: Point3::new(0.0, 0.0, 0.0),
            aspect_ratio,
            near: 0.4,
            far: 20.0,
        };

        ret.update_projection();

        ret
    }

    pub fn set_position(&mut self, pos: Point3<f32>) {
        self.position = pos;

        self.update_view();
    }

    pub fn set_fovy(&mut self, fovy: f32) {
        self.fov = fovy;

        self.update_projection();
    }

    pub fn set_target(&mut self, target: Point3<f32>) {
        self.target = target;
        self.update_view();
    }

    pub fn get_direction(&self) -> Vector3<f32> {
        // Vector3::new(
        //     self.view_matrix[(0, 2)],
        //     self.view_matrix[(1, 2)],
        //     self.view_matrix[(2, 2)],
        // )

        let transpose = self.view_matrix; //.transpose();

        Vector3::new(transpose[(2, 0)], transpose[(2, 1)], transpose[(2, 2)])
    }

    // pub fn set_attitude(&mut self, roll: f32, pitch: f32, yaw: f32) {
    //     let rotation = UnitQuaternion::from_euler_angles(roll, pitch, yaw);
    //     let translation = self.position;
    //     let isometry = Isometry3::from_parts(translation.coords.into(), rotation);
    //     self.view_matrix = isometry.to_homogeneous();
    // }

    fn update_view(&mut self) {
        let view = Isometry3::look_at_rh(&self.position, &self.target, &Vector3::y());

        self.view_matrix = view.to_homogeneous();
        self.vp_matrix = self.projection_matrix * self.view_matrix;
    }

    fn update_projection(&mut self) {
        let projection = Perspective3::new(self.aspect_ratio, self.fov, self.near, self.far);
        self.projection_matrix = projection.to_homogeneous();
        self.vp_matrix = self.projection_matrix * self.view_matrix;
    }
}

pub struct K3dengine {
    pub camera: K3dCamera,
    width: u16,
    height: u16,
}

impl K3dengine {
    pub fn new(width: u16, height: u16) -> K3dengine {
        K3dengine {
            camera: K3dCamera::new(width as f32 / height as f32),
            width,
            height,
        }
    }

    fn transform_point(
        &self,
        point: &(f32, f32, f32),
        model_matrix: Matrix4<f32>,
    ) -> Option<Point3<i32>> {
        let point = nalgebra::Vector4::new(point.0, point.1, point.2, 1.0);
        let point = model_matrix * point;

        if point.w < 0.0 {
            return None;
        }
        if point.z < self.camera.near || point.z > self.camera.far {
            return None;
        }

        let point = Point3::from_homogeneous(point)?;

        Some(Point3::new(
            ((1.0 + point.x) * 0.5 * self.width as f32) as i32,
            ((1.0 - point.y) * 0.5 * self.height as f32) as i32,
            (point.z * (self.camera.far - self.camera.near) + self.camera.near) as i32,
        ))
    }

    pub fn render<'a, MS, F>(&self, meshes: MS, mut callback: F)
    where
        MS: IntoIterator<Item = &'a K3dMesh<'a>>,
        F: FnMut(DrawPrimitive),
    {
        for mesh in meshes {
            if mesh.geometry.vertices.is_empty() {
                continue;
            }

            let transform_matrix = self.camera.vp_matrix * mesh.model_matrix;
            let screen_space_points = mesh
                .geometry
                .vertices
                .iter()
                .filter_map(|v| self.transform_point(v, transform_matrix));

            match mesh.render_mode {
                RenderMode::Points
                    if mesh.geometry.colors.len() == mesh.geometry.vertices.len() =>
                {
                    for (point, color) in screen_space_points.zip(mesh.geometry.colors) {
                        callback(DrawPrimitive::ColoredPoint(point.xy(), *color));
                    }
                }

                RenderMode::Points => {
                    for point in screen_space_points {
                        callback(DrawPrimitive::ColoredPoint(point.xy(), mesh.color));
                    }
                }

                RenderMode::Lines if !mesh.geometry.lines.is_empty() => {
                    for line in mesh.geometry.lines {
                        let p1 =
                            self.transform_point(&mesh.geometry.vertices[line.0], transform_matrix);
                        let p2 =
                            self.transform_point(&mesh.geometry.vertices[line.1], transform_matrix);

                        if let (Some(p1), Some(p2)) = (p1, p2) {
                            callback(DrawPrimitive::Line(p1.xy(), p2.xy(), mesh.color));
                        }
                    }
                }

                RenderMode::Lines if !mesh.geometry.faces.is_empty() => {
                    for face in mesh.geometry.faces {
                        let p1 =
                            self.transform_point(&mesh.geometry.vertices[face.0], transform_matrix);
                        let p2 =
                            self.transform_point(&mesh.geometry.vertices[face.1], transform_matrix);
                        let p3 =
                            self.transform_point(&mesh.geometry.vertices[face.2], transform_matrix);

                        if let (Some(p1), Some(p2), Some(p3)) = (p1, p2, p3) {
                            callback(DrawPrimitive::Line(p1.xy(), p2.xy(), mesh.color));
                            callback(DrawPrimitive::Line(p2.xy(), p3.xy(), mesh.color));
                            callback(DrawPrimitive::Line(p3.xy(), p1.xy(), mesh.color));
                        }
                    }
                }

                RenderMode::Lines => {}

                RenderMode::SolidLightDir(direction) => {
                    for (face, normal) in mesh.geometry.faces.iter().zip(mesh.geometry.normals) {
                        //Backface culling
                        let normal = Vector3::new(normal.0, normal.1, normal.2);

                        let transformed_normal = mesh.model_matrix.transform_vector(&normal);

                        if self.camera.get_direction().dot(&transformed_normal) < 0.0 {
                            continue;
                        }

                        let p1 =
                            self.transform_point(&mesh.geometry.vertices[face.0], transform_matrix);
                        let p2 =
                            self.transform_point(&mesh.geometry.vertices[face.1], transform_matrix);
                        let p3 =
                            self.transform_point(&mesh.geometry.vertices[face.2], transform_matrix);

                        if let (Some(p1), Some(p2), Some(p3)) = (p1, p2, p3) {
                            let color_as_float = Vector3::new(
                                mesh.color.r() as f32 / 32.0,
                                mesh.color.g() as f32 / 64.0,
                                mesh.color.b() as f32 / 32.0,
                            );

                            let mut final_color = Vector3::new(0.0f32, 0.0, 0.0);

                            let intensity = transformed_normal.dot(&direction);

                            let intensity = intensity.max(0.0);

                            final_color += color_as_float * intensity + color_as_float * 0.4;

                            let final_color = Vector3::new(
                                final_color.x.min(1.0).max(0.0),
                                final_color.y.min(1.0).max(0.0),
                                final_color.z.min(1.0).max(0.0),
                            );

                            let color = Rgb565::new(
                                (final_color.x * 31.0) as u8,
                                (final_color.y * 63.0) as u8,
                                (final_color.z * 31.0) as u8,
                            );
                            callback(DrawPrimitive::ColoredTriangle(
                                p1.xy(),
                                p2.xy(),
                                p3.xy(),
                                color,
                            ));
                        }
                    }
                }

                RenderMode::Solid => {
                    if mesh.geometry.normals.is_empty() {
                        for face in mesh.geometry.faces.iter() {
                            let p1 = self
                                .transform_point(&mesh.geometry.vertices[face.0], transform_matrix);
                            let p2 = self
                                .transform_point(&mesh.geometry.vertices[face.1], transform_matrix);
                            let p3 = self
                                .transform_point(&mesh.geometry.vertices[face.2], transform_matrix);

                            if let (Some(p1), Some(p2), Some(p3)) = (p1, p2, p3) {
                                callback(DrawPrimitive::ColoredTriangle(
                                    p1.xy(),
                                    p2.xy(),
                                    p3.xy(),
                                    mesh.color,
                                ));
                            }
                        }
                    } else {
                        for (face, normal) in mesh.geometry.faces.iter().zip(mesh.geometry.normals)
                        {
                            //Backface culling
                            let normal = Vector3::new(normal.0, normal.1, normal.2);

                            let transformed_normal = mesh.model_matrix.transform_vector(&normal);

                            if self.camera.get_direction().dot(&transformed_normal) < 0.0 {
                                continue;
                            }

                            let p1 = self
                                .transform_point(&mesh.geometry.vertices[face.0], transform_matrix);
                            let p2 = self
                                .transform_point(&mesh.geometry.vertices[face.1], transform_matrix);
                            let p3 = self
                                .transform_point(&mesh.geometry.vertices[face.2], transform_matrix);

                            if let (Some(p1), Some(p2), Some(p3)) = (p1, p2, p3) {
                                callback(DrawPrimitive::ColoredTriangle(
                                    p1.xy(),
                                    p2.xy(),
                                    p3.xy(),
                                    mesh.color,
                                ));
                            }
                        }
                    }
                }
            }
        }
    }
}