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use std::ops::Mul;
use prelude::*;
use functions::cross;
#[derive (Debug, PartialEq, PartialOrd, Clone)]
pub struct Matrix4 {
pub data: [[f64; 4]; 4]
}
impl Matrix4 {
pub fn zeroes() -> Matrix4 {
Matrix4{
data: [
[0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]
]
}
}
pub fn translation(x: f64, y: f64, z: f64) -> Matrix4 {
Matrix4{
data: [
[1.0, 0.0, 0.0, x],
[0.0, 1.0, 0.0, y],
[0.0, 0.0, 1.0, z],
[0.0, 0.0, 0.0, 1.0]
]
}
}
pub fn scale(x: f64, y: f64, z: f64) -> Matrix4 {
Matrix4{
data: [
[x, 0.0, 0.0, 0.0],
[0.0, y, 0.0, 0.0],
[0.0, 0.0, z, 0.0],
[0.0, 0.0, 0.0, 1.0]
]
}
}
pub fn rotation(x: Rad, y: Rad, z: Rad) -> Matrix4 {
let (mut mx, mut my, mut mz) = (Matrix4::default(), Matrix4::default(), Matrix4::default());
let (rad_x, rad_y, rad_z) = (x.val, y.val, z.val);
mx.data[0][0] = 1.0; mx.data[0][1] = 0.0; mx.data[0][2] = 0.0; mx.data[0][3] = 0.0;
mx.data[1][0] = 0.0; mx.data[1][1] = rad_x.cos(); mx.data[1][2] = -rad_x.sin(); mx.data[1][3] = 0.0;
mx.data[2][0] = 0.0; mx.data[2][1] = rad_x.sin(); mx.data[2][2] = rad_x.cos(); mx.data[2][3] = 0.0;
mx.data[3][0] = 0.0; mx.data[3][1] = 0.0; mx.data[3][2] = 0.0; mx.data[3][3] = 1.0;
my.data[0][0] = rad_y.cos(); my.data[0][1] = 0.0; my.data[0][2] = rad_y.sin(); my.data[0][3] = 0.0;
my.data[1][0] = 0.0; my.data[1][1] = 1.0; my.data[1][2] = 0.0; my.data[1][3] = 0.0;
my.data[2][0] = -rad_y.sin(); my.data[2][1] = 0.0; my.data[2][2] = rad_y.cos(); my.data[2][3] = 0.0;
my.data[3][0] = 0.0; my.data[3][1] = 0.0; my.data[3][2] = 0.0; my.data[3][3] = 1.0;
mz.data[0][0] = rad_z.cos(); mz.data[0][1] = -rad_z.sin(); mz.data[0][2] = 0.0; mz.data[0][3] = 0.0;
mz.data[1][0] = rad_z.sin(); mz.data[1][1] = rad_z.cos(); mz.data[1][2] = 0.0; mz.data[1][3] = 0.0;
mz.data[2][0] = 0.0; mz.data[2][1] = 0.0; mz.data[2][2] = 1.0; mz.data[2][3] = 0.0;
mz.data[3][0] = 0.0; mz.data[3][1] = 0.0; mz.data[3][2] = 0.0; mz.data[3][3] = 1.0;
mx * my * mz
}
pub fn rotation_axis<N>(axis: &N, r: Rad) -> Matrix4 where
N: IsNormalized3D {
let rad = r.val;
let ref u = axis;
let mut result = Matrix4::default();
result.data[0][0] = rad.cos() + u.x()*u.x()*(1.0 - rad.cos()); result.data[0][1] = u.x()*u.y()*(1.0 -rad.cos()) - u.z()*rad.sin(); result.data[0][2] = u.x()*u.z()*(1.0 - rad.cos()) + u.y()*rad.sin(); result.data[0][3] = 0.0;
result.data[1][0] = u.y()*u.x()*(1.0 - rad.cos()) + u.z()*rad.sin(); result.data[1][1] = rad.cos() + u.y()*u.y()*(1.0 - rad.cos()); result.data[1][2] = u.y()*u.z()*(1.0 - rad.cos()) - u.x()*rad.sin(); result.data[1][3] = 0.0;
result.data[2][0] = u.z()*u.x()*(1.0 - rad.cos()) - u.y()*rad.sin(); result.data[2][1] = u.z()*u.y()*(1.0 - rad.cos()) + u.x()*rad.sin(); result.data[2][2] = rad.cos() + u.z()*u.z()*(1.0 - rad.cos()); result.data[2][3] = 0.0;
result.data[3][0] = 0.0; result.data[3][1] = 0.0; result.data[3][2] = 0.0; result.data[3][3] = 1.0;
result
}
pub fn perspective(close: f64, away: f64, fov: Rad) -> Matrix4 {
let fov_rad = fov.val;
let range = close - away;
let tan_fov_half = (fov_rad/2.0).tan();
let mut result = Matrix4::default();
result.data[0][0] = 1.0 / (tan_fov_half * away); result.data[0][1] = 0.0; result.data[0][2] = 0.0; result.data[0][3] = 0.0;
result.data[1][0] = 0.0; result.data[1][1] = 1.0 / tan_fov_half; result.data[1][2] = 0.0; result.data[1][3] = 0.0;
result.data[2][0] = 0.0; result.data[2][1] = 0.0; result.data[2][2] = (-close - away) / range; result.data[2][3] = 2.0 * away * close / range;
result.data[3][0] = 0.0; result.data[3][1] = 0.0; result.data[3][2] = 1.0; result.data[3][3] = 1.0;
result
}
pub fn look_at<P, N>(target: &P, up: &N) -> Result<Matrix4> where
P: IsBuildable3D,
N: IsNormalized3D {
let n = target.clone().normalized()?;
let u = cross(&*up, target);
let v = cross(&n, &u);
let mut result = Matrix4::default();
result.data[0][0] = u.x(); result.data[0][1] = u.y(); result.data[0][2] = u.z(); result.data[0][3] = 0.0;
result.data[1][0] = v.x(); result.data[1][1] = v.y(); result.data[1][2] = v.z(); result.data[1][3] = 0.0;
result.data[2][0] = n.x(); result.data[2][1] = n.y(); result.data[2][2] = n.z(); result.data[2][3] = 0.0;
result.data[3][0] = 0.0; result.data[3][1] = 0.0; result.data[3][2] = 0.0; result.data[3][3] = 1.0;
Ok(result)
}
}
impl Default for Matrix4 {
fn default() -> Self {
Matrix4{
data: [
[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]
]
}
}
}
impl Mul for Matrix4 {
type Output = Self;
fn mul(self, other: Self) -> Self {
let mut result = Matrix4::default();
for i in 0..4 {
for j in 0..4 {
result.data[i][j] =
self.data[i][0] * other.data[0][j] +
self.data[i][1] * other.data[1][j] +
self.data[i][2] * other.data[2][j] +
self.data[i][3] * other.data[3][j];
}
}
result
}
}
impl Mul<f64> for Matrix4 {
type Output = Self;
fn mul(self, other: f64) -> Self {
let mut result = Matrix4::default();
for i in 0..4 {
for j in 0..4 {
result.data[i][j] = other * self.data[i][j];
}
}
result
}
}