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use na::{DefaultAllocator, Point3, RealField, Rotation3, Unit}; use crate::aliases::{TMat, TMat4, TVec, TVec3}; use crate::traits::{Alloc, Dimension, Number}; /// The identity matrix. pub fn identity<N: Number, D: Dimension>() -> TMat<N, D, D> where DefaultAllocator: Alloc<N, D, D> { TMat::<N, D, D>::identity() } /// Build a look at view matrix based on the right handedness. /// /// # Parameters: /// /// * `eye` − Position of the camera. /// * `center` − Position where the camera is looking at. /// * `u` − Normalized up vector, how the camera is oriented. Typically `(0, 1, 0)`. /// /// # See also: /// /// * [`look_at_lh`](fn.look_at_lh.html) /// * [`look_at_rh`](fn.look_at_rh.html) pub fn look_at<N: RealField>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> { look_at_rh(eye, center, up) } /// Build a left handed look at view matrix. /// /// # Parameters: /// /// * `eye` − Position of the camera. /// * `center` − Position where the camera is looking at. /// * `u` − Normalized up vector, how the camera is oriented. Typically `(0, 1, 0)`. /// /// # See also: /// /// * [`look_at`](fn.look_at.html) /// * [`look_at_rh`](fn.look_at_rh.html) pub fn look_at_lh<N: RealField>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> { TMat::look_at_lh(&Point3::from(*eye), &Point3::from(*center), up) } /// Build a right handed look at view matrix. /// /// # Parameters: /// /// * `eye` − Position of the camera. /// * `center` − Position where the camera is looking at. /// * `u` − Normalized up vector, how the camera is oriented. Typically `(0, 1, 0)`. /// /// # See also: /// /// * [`look_at`](fn.look_at.html) /// * [`look_at_lh`](fn.look_at_lh.html) pub fn look_at_rh<N: RealField>(eye: &TVec3<N>, center: &TVec3<N>, up: &TVec3<N>) -> TMat4<N> { TMat::look_at_rh(&Point3::from(*eye), &Point3::from(*center), up) } /// Builds a rotation 4 * 4 matrix created from an axis vector and an angle and right-multiply it to `m`. /// /// # Parameters: /// /// * `m` − Input matrix multiplied by this rotation matrix. /// * `angle` − Rotation angle expressed in radians. /// * `axis` − Rotation axis, recommended to be normalized. /// /// # See also: /// /// * [`rotate_x`](fn.rotate_x.html) /// * [`rotate_y`](fn.rotate_y.html) /// * [`rotate_z`](fn.rotate_z.html) /// * [`scale`](fn.scale.html) /// * [`translate`](fn.translate.html) pub fn rotate<N: RealField>(m: &TMat4<N>, angle: N, axis: &TVec3<N>) -> TMat4<N> { m * Rotation3::from_axis_angle(&Unit::new_normalize(*axis), angle).to_homogeneous() } /// Builds a rotation 4 * 4 matrix around the X axis and right-multiply it to `m`. /// /// # Parameters: /// /// * `m` − Input matrix multiplied by this rotation matrix. /// * `angle` − Rotation angle expressed in radians. /// /// # See also: /// /// * [`rotate`](fn.rotate.html) /// * [`rotate_y`](fn.rotate_y.html) /// * [`rotate_z`](fn.rotate_z.html) /// * [`scale`](fn.scale.html) /// * [`translate`](fn.translate.html) pub fn rotate_x<N: RealField>(m: &TMat4<N>, angle: N) -> TMat4<N> { rotate(m, angle, &TVec::x()) } /// Builds a rotation 4 * 4 matrix around the Y axis and right-multiply it to `m`. /// /// # Parameters: /// /// * `m` − Input matrix multiplied by this rotation matrix. /// * `angle` − Rotation angle expressed in radians. /// /// # See also: /// /// * [`rotate`](fn.rotate.html) /// * [`rotate_x`](fn.rotate_x.html) /// * [`rotate_z`](fn.rotate_z.html) /// * [`scale`](fn.scale.html) /// * [`translate`](fn.translate.html) pub fn rotate_y<N: RealField>(m: &TMat4<N>, angle: N) -> TMat4<N> { rotate(m, angle, &TVec::y()) } /// Builds a rotation 4 * 4 matrix around the Z axis and right-multiply it to `m`. /// /// # Parameters: /// /// * `m` − Input matrix multiplied by this rotation matrix. /// * `angle` − Rotation angle expressed in radians. /// /// # See also: /// /// * [`rotate`](fn.rotate.html) /// * [`rotate_x`](fn.rotate_x.html) /// * [`rotate_y`](fn.rotate_y.html) /// * [`scale`](fn.scale.html) /// * [`translate`](fn.translate.html) pub fn rotate_z<N: RealField>(m: &TMat4<N>, angle: N) -> TMat4<N> { rotate(m, angle, &TVec::z()) } /// Builds a scale 4 * 4 matrix created from 3 scalars and right-multiply it to `m`. /// /// # Parameters: /// /// * `m` − Input matrix multiplied by this scale matrix. /// * `v` − Ratio of scaling for each axis. /// /// # See also: /// /// * [`rotate`](fn.rotate.html) /// * [`rotate_x`](fn.rotate_x.html) /// * [`rotate_y`](fn.rotate_y.html) /// * [`rotate_z`](fn.rotate_z.html) /// * [`translate`](fn.translate.html) pub fn scale<N: Number>(m: &TMat4<N>, v: &TVec3<N>) -> TMat4<N> { m.prepend_nonuniform_scaling(v) } /// Builds a translation 4 * 4 matrix created from a vector of 3 components and right-multiply it to `m`. /// /// # Parameters: /// /// * `m` − Input matrix multiplied by this translation matrix. /// * `v` − Coordinates of a translation vector. /// /// # See also: /// /// * [`rotate`](fn.rotate.html) /// * [`rotate_x`](fn.rotate_x.html) /// * [`rotate_y`](fn.rotate_y.html) /// * [`rotate_z`](fn.rotate_z.html) /// * [`scale`](fn.scale.html) pub fn translate<N: Number>(m: &TMat4<N>, v: &TVec3<N>) -> TMat4<N> { m.prepend_translation(v) }