feo_math/rotation/
mod.rs

1//! Constructs for representing rotation in 3D space
2
3use crate::{One, Zero, axes::Axes, linear_algebra::vector3::Vector3};
4
5pub mod quaternion;
6pub mod euler;
7pub mod rotor;
8pub mod axes;
9
10use {
11    euler::Euler,
12    rotor::Rotor,
13    quaternion::Quaternion,
14
15    crate::linear_algebra::matrix3::Matrix3,
16};
17
18pub enum RotationTy<T>{
19    Quaternion(Quaternion<T>),
20    Euler(Euler<T>),
21    Rotor(Rotor<T>),
22    Axes(Axes<T>)
23}
24
25pub trait Rotation<T>:
26        Into<Matrix3<T>> +
27        From<Matrix3<T>> + 
28        Into<Axes<T>> + From<Axes<T>> + 
29        Into<Rotor<T>> + From<Rotor<T>> + 
30        Into<Quaternion<T>> + From<Quaternion<T>> where T: One + Zero /* does not mean the same for all */{
31    const X_AXIS: Vector3<T> = Vector3(T::ONE , T::ZERO, T::ZERO);
32    const Y_AXIS: Vector3<T> = Vector3(T::ZERO, T::ONE , T::ZERO);
33    const Z_AXIS: Vector3<T> = Vector3(T::ZERO, T::ZERO, T::ONE );
34
35    /// Generate a rotation for an object at a position look at a point.
36    /// only uses the X and Y rotation axes to arrive at this result
37    /// Z rotation axis
38    /// ```text
39    ///  ↻
40    ///  |  locked Z rotation axis
41    ///  | /
42    ///  o ---- ⤺
43    /// ```
44    ///  # Arguments
45    /// * `pos` - A `Vector3<f32>` representing the position of the object
46    /// * `look_at` - A `Vector3<f32>` representing the position the object is to look at
47    fn look_at_xy(pos: Vector3<T>, look_at: Vector3<T>) -> Self;
48    
49    /// Generate a rotation for an object at a position look at a point.
50    /// only uses the X and Z rotation axes to arrive at this result
51    /// Z rotation axis
52    /// ```text
53    ///  locked Y rotation axis
54    ///  |  ⤺
55    ///  | /
56    ///  o ---- ⤺
57    /// ```
58    ///  # Arguments
59    /// * `pos` - A `Vector3<f32>` representing the position of the object
60    /// * `look_at` - A `Vector3<f32>` representing the position the object is to look at
61    fn look_at_xz(pos: Vector3<T>, look_at: Vector3<T>) -> Self;
62    
63    /// Generate a rotation for an object at a position look at a point.
64    /// only uses the Z and Y rotation axes to arrive at this result
65    /// Z rotation axis
66    /// ```text
67    ///  ↻
68    ///  |  ⤺
69    ///  | /
70    ///  o ---- locked X rotation axis
71    /// ```
72    ///  # Arguments
73    /// * `pos` - A `Vector3<f32>` representing the position of the object
74    /// * `look_at` - A `Vector3<f32>` representing the position the object is to look at
75    fn look_at_yz(pos: Vector3<T>, look_at: Vector3<T>) -> Self;
76    
77    /// Generate a rotation for an object at a position look at a point.
78    /// only uses the Z and Y rotation axes to arrive at this result
79    /// Z rotation axis
80    /// ```text
81    ///  ↻
82    ///  |  ⤺
83    ///  | /
84    ///  o ---- ⤺
85    ///   \
86    ///    locked_axis
87    /// ```
88    ///  # Arguments
89    /// * `pos` - A `Vector3<f32>` representing the position of the object
90    /// * `look_at` - A `Vector3<f32>` representing the position the object is to look at
91    fn look_at_lock(pos: Vector3<T>, look_at: Vector3<T>, locked_axis: Vector3<T>) -> Self;
92    
93    /// Camera Objects look along the -Z axis so the look_at function for a camera object
94    /// needs to be modified a little. flipping the pos and the look_at should do the trick.
95    /// TODO: finish comments watch out bc z is reversed and things may get wonky
96    /// ```text
97    ///    ^ Z
98    ///    |
99    ///    |
100    /// Y• C ------> X
101    ///   / \
102    ///  /   \
103    /// /     \
104    /// ```
105    /// # Arguments 
106    /// * `pos` - A `Vector3<f32>` representing the position of the camera
107    /// * `look_at` - A `Vector3<f32>` representing the position the camera is to look at
108    fn camera_look_at_xy(pos: Vector3<T>, look_at: Vector3<T>) -> Self;
109    fn camera_look_at_xz(pos: Vector3<T>, look_at: Vector3<T>) -> Self;
110    fn camera_look_at_yz(pos: Vector3<T>, look_at: Vector3<T>) -> Self;
111    fn camera_look_at_lock(pos: Vector3<T>, look_at: Vector3<T>, locked_axis: Vector3<T>) -> Self;
112}
113
114
feo_math/rotation/mod.rs

feo_math/rotation/
mod.rs
