Struct thin_engine::prelude::Quaternion

source · 
pub struct Quaternion {
    pub r: f32,
    pub i: f32,
    pub j: f32,
    pub k: f32,
}
Expand description

a 4 part vector often used to represent rotations. note that multiplication of quaternions is applying transformations.

Fields§

§r: f32§i: f32§j: f32§k: f32

Implementations§

source§

impl Quaternion

source

pub fn from_x_rotation(angle: f32) -> Quaternion

rotation around the x axis in radians

Examples found in repository?
examples/simple.rs (line 72)
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fn main() {
    use Action::*;
    let (event_loop, window, display) = thin_engine::set_up().unwrap();
    window.set_title("Walk Test");
    let _ = window.set_cursor_grab(CursorGrabMode::Locked);
    window.set_cursor_visible(false);

    let mut input = InputMap::new([
        (vec![Input::keycode(KeyCode::Space)], Jump),
        (vec![Input::keycode(KeyCode::ArrowLeft), Input::keycode(KeyCode::KeyA)], Left),
        (vec![Input::keycode(KeyCode::ArrowRight), Input::keycode(KeyCode::KeyD)], Right),
        (vec![Input::keycode(KeyCode::ArrowUp), Input::keycode(KeyCode::KeyW)], Forward),
        (vec![Input::keycode(KeyCode::ArrowDown), Input::keycode(KeyCode::KeyS)], Back)
    ]);

    let (indices, verts, norms) = mesh!(
        &display, &teapot::INDICES, &teapot::VERTICES, &teapot::NORMALS
    );
    let draw_parameters = DrawParameters {
        backface_culling: draw_parameters::BackfaceCullingMode::CullClockwise,
        ..params::alias_3d()
    };
    let program = Program::from_source(
        &display, shaders::VERTEX,
        "#version 140
        out vec4 colour;
        in vec3 v_normal;
        uniform vec3 light;

        const vec3 albedo = vec3(0.1, 1.0, 0.3);
        void main(){
            float light_level = dot(light, v_normal);
            colour = vec4(albedo * light_level, 1.0);
        }", None,
    ).unwrap();

    let mut pos = vec3(0.0, 0.0, -30.0);
    let mut rot = vec2(0.0, 0.0);
    let mut gravity = 0.0;

    const DELTA: f32 = 0.016;

    thin_engine::run(event_loop, &mut input, |input| {
        display.resize(window.inner_size().into());
        let mut frame = display.draw();
        let view = Mat4::view_matrix_3d(frame.get_dimensions(), 1.0, 1024.0, 0.1);

        //handle gravity and jump
        gravity += DELTA * 9.5;
        if input.pressed(Jump) {
            gravity = -10.0;
        }

        //set camera rotation
        rot += input.mouse_move.scale(DELTA * 2.0);
        rot.y = rot.y.clamp(-PI / 2.0, PI / 2.0);
        let rx = Quaternion::from_y_rotation(rot.x);
        let ry = Quaternion::from_x_rotation(rot.y);
        let rot = rx * ry;

        //move player based on view and gravity
        let x = input.axis(Right, Left);
        let y = input.axis(Forward, Back);
        let move_dir = vec3(x, 0.0, y).normalise();
        pos += move_dir.transform(&Mat3::from_rot(rx)).scale(5.0 * DELTA);
        pos.y = (pos.y - gravity * DELTA).max(0.0);

        frame.clear_color_and_depth((0.0, 0.0, 0.0, 1.0), 1.0);
        //draw teapot
        frame.draw(
            (&verts, &norms), &indices,
            &program, &uniform! {
                view: view,
                model: Mat4::from_scale(Vec3::splat(0.1)),
                camera: Mat4::from_inverse_transform(pos, Vec3::ONE, rot),
                light: vec3(1.0, -0.9, -1.0).normalise()
            },
            &draw_parameters,
        ).unwrap();

        frame.finish().unwrap();
        thread::sleep(Duration::from_millis(16));
    }).unwrap();
}
More examples
Hide additional examples
examples/simple-fxaa.rs (line 108)
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fn main() {
    use Action::*;
    let (event_loop, window, display) = thin_engine::set_up().unwrap();
    window.set_title("FXAA Test");
    let _ = window.set_cursor_grab(CursorGrabMode::Locked);
    window.set_cursor_visible(false);

    let mut colour = ResizableTexture2D::default();
    let mut depth = ResizableDepthTexture2D::default();

    let mut input = InputMap::new([
        (vec![Input::keycode(KeyCode::ArrowLeft), Input::keycode(KeyCode::KeyA)], Left),
        (vec![Input::keycode(KeyCode::ArrowRight), Input::keycode(KeyCode::KeyD)], Right),
        (vec![Input::keycode(KeyCode::ArrowUp), Input::keycode(KeyCode::KeyW)], Forward),
        (vec![Input::keycode(KeyCode::ArrowDown), Input::keycode(KeyCode::KeyS)], Back),
        (vec![Input::keycode(KeyCode::KeyF)], FXAA),
        (vec![Input::keycode(KeyCode::Space)], Jump)
    ]);
    let (screen_indices, verts, uvs) = mesh!(
        &display, &screen::INDICES, &screen::VERTICES, &screen::UVS
    );
    let screen_mesh = (&verts, &uvs);
    let (indices, verts, norms) = mesh!(
        &display, &teapot::INDICES, &teapot::VERTICES, &teapot::NORMALS
    );
    let teapot_mesh = (&verts, &norms);
    let draw_parameters = DrawParameters {
        backface_culling: draw_parameters::BackfaceCullingMode::CullClockwise,
        ..params::alias_3d()
    };
    let mut fxaa_on = true;
    let program = Program::from_source(
        &display, shaders::VERTEX,
        "#version 140
        out vec4 colour;
        in vec3 v_normal;
        uniform vec3 light;
        uniform mat4 camera;
        uniform vec3 ambient;
        uniform vec3 albedo;
        uniform float shine;
        void main() {
            vec3 camera_dir = inverse(mat3(camera)) * vec3(0, 0, -1);
            vec3 half_dir = normalize(camera_dir + light);
            float specular = pow(max(dot(half_dir, v_normal), 0.0), shine);
            float light_level = max(dot(light, v_normal), 0.0);
            colour = vec4(albedo * light_level + ambient + vec3(specular), 1.0);
        }", None
    ).unwrap();
    let fxaa = shaders::fxaa_shader(&display).unwrap();
    let normal = Program::from_source(
        &display, shaders::SCREEN_VERTEX, 
        "#version 140
        in vec2 uv;
        uniform sampler2D tex;
        out vec4 colour;
        void main() {
            colour = texture(tex, uv);
        }", None
    ).unwrap();

    let mut pos = vec3(0.0, 0.0, -30.0);
    let mut rot = vec2(0.0, 0.0);
    const DELTA: f32 = 0.016;

    thin_engine::run(event_loop, &mut input, |input| {
        // using a small resolution to show the effect.
        // `let size = window.inner_size().into();` 
        // can be used isntead to set resolution to window size
        let size = (380, 216);
        display.resize(size);
        depth.resize_to_display(&display);
        colour.resize_to_display(&display);

        //press f to toggle FXAA
        if input.pressed(FXAA) { fxaa_on = !fxaa_on }

        let colour = colour.texture.as_ref().unwrap();
        let depth = depth.texture.as_ref().unwrap();
        let mut frame = SimpleFrameBuffer::with_depth_buffer(
            &display, colour, depth
        ).unwrap();

        let view = Mat4::view_matrix_3d(size, 1.0, 1024.0, 0.1);        
        //set camera rotation
        rot += input.mouse_move.scale(DELTA * 2.0);
        rot.y = rot.y.clamp(-PI / 2.0, PI / 2.0);
        let rx = Quaternion::from_y_rotation(rot.x);
        let ry = Quaternion::from_x_rotation(rot.y);
        let rot = rx * ry;

        //move player based on view
        let x = input.axis(Right, Left);
        let y = input.axis(Forward, Back);
        let move_dir = vec3(x, 0.0, y).normalise().scale(5.0*DELTA);
        pos += move_dir.transform(&Mat3::from_rot(rx));

        frame.clear_color_and_depth((0.0, 0.0, 0.0, 1.0), 1.0);
        //draw teapot
        frame.draw(
            teapot_mesh, &indices,
            &program, &uniform! {
                view: view,
                model: Mat4::from_scale(Vec3::splat(0.1)),
                camera: Mat4::from_inverse_transform(pos, Vec3::ONE, rot),
                light: vec3(0.1, 0.25, -1.0).normalise(),
                albedo: vec3(0.5, 0.1, 0.4),
                ambient: vec3(0.0, 0.05, 0.1),
                shine: 10.0f32,
            },
            &draw_parameters,
        ).unwrap();

        let mut frame = display.draw();
        frame.draw(
            screen_mesh, &screen_indices, if fxaa_on { &fxaa } else { &normal },
            &shaders::fxaa_uniforms(colour), &DrawParameters::default()
        ).unwrap();
        frame.finish().unwrap();
        thread::sleep(Duration::from_millis(16));
    }).unwrap();
}
source

pub fn from_y_rotation(angle: f32) -> Quaternion

rotation around the y axis in radians

Examples found in repository?
examples/simple.rs (line 71)
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fn main() {
    use Action::*;
    let (event_loop, window, display) = thin_engine::set_up().unwrap();
    window.set_title("Walk Test");
    let _ = window.set_cursor_grab(CursorGrabMode::Locked);
    window.set_cursor_visible(false);

    let mut input = InputMap::new([
        (vec![Input::keycode(KeyCode::Space)], Jump),
        (vec![Input::keycode(KeyCode::ArrowLeft), Input::keycode(KeyCode::KeyA)], Left),
        (vec![Input::keycode(KeyCode::ArrowRight), Input::keycode(KeyCode::KeyD)], Right),
        (vec![Input::keycode(KeyCode::ArrowUp), Input::keycode(KeyCode::KeyW)], Forward),
        (vec![Input::keycode(KeyCode::ArrowDown), Input::keycode(KeyCode::KeyS)], Back)
    ]);

    let (indices, verts, norms) = mesh!(
        &display, &teapot::INDICES, &teapot::VERTICES, &teapot::NORMALS
    );
    let draw_parameters = DrawParameters {
        backface_culling: draw_parameters::BackfaceCullingMode::CullClockwise,
        ..params::alias_3d()
    };
    let program = Program::from_source(
        &display, shaders::VERTEX,
        "#version 140
        out vec4 colour;
        in vec3 v_normal;
        uniform vec3 light;

        const vec3 albedo = vec3(0.1, 1.0, 0.3);
        void main(){
            float light_level = dot(light, v_normal);
            colour = vec4(albedo * light_level, 1.0);
        }", None,
    ).unwrap();

    let mut pos = vec3(0.0, 0.0, -30.0);
    let mut rot = vec2(0.0, 0.0);
    let mut gravity = 0.0;

    const DELTA: f32 = 0.016;

    thin_engine::run(event_loop, &mut input, |input| {
        display.resize(window.inner_size().into());
        let mut frame = display.draw();
        let view = Mat4::view_matrix_3d(frame.get_dimensions(), 1.0, 1024.0, 0.1);

        //handle gravity and jump
        gravity += DELTA * 9.5;
        if input.pressed(Jump) {
            gravity = -10.0;
        }

        //set camera rotation
        rot += input.mouse_move.scale(DELTA * 2.0);
        rot.y = rot.y.clamp(-PI / 2.0, PI / 2.0);
        let rx = Quaternion::from_y_rotation(rot.x);
        let ry = Quaternion::from_x_rotation(rot.y);
        let rot = rx * ry;

        //move player based on view and gravity
        let x = input.axis(Right, Left);
        let y = input.axis(Forward, Back);
        let move_dir = vec3(x, 0.0, y).normalise();
        pos += move_dir.transform(&Mat3::from_rot(rx)).scale(5.0 * DELTA);
        pos.y = (pos.y - gravity * DELTA).max(0.0);

        frame.clear_color_and_depth((0.0, 0.0, 0.0, 1.0), 1.0);
        //draw teapot
        frame.draw(
            (&verts, &norms), &indices,
            &program, &uniform! {
                view: view,
                model: Mat4::from_scale(Vec3::splat(0.1)),
                camera: Mat4::from_inverse_transform(pos, Vec3::ONE, rot),
                light: vec3(1.0, -0.9, -1.0).normalise()
            },
            &draw_parameters,
        ).unwrap();

        frame.finish().unwrap();
        thread::sleep(Duration::from_millis(16));
    }).unwrap();
}
More examples
Hide additional examples
examples/simple-fxaa.rs (line 107)
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fn main() {
    use Action::*;
    let (event_loop, window, display) = thin_engine::set_up().unwrap();
    window.set_title("FXAA Test");
    let _ = window.set_cursor_grab(CursorGrabMode::Locked);
    window.set_cursor_visible(false);

    let mut colour = ResizableTexture2D::default();
    let mut depth = ResizableDepthTexture2D::default();

    let mut input = InputMap::new([
        (vec![Input::keycode(KeyCode::ArrowLeft), Input::keycode(KeyCode::KeyA)], Left),
        (vec![Input::keycode(KeyCode::ArrowRight), Input::keycode(KeyCode::KeyD)], Right),
        (vec![Input::keycode(KeyCode::ArrowUp), Input::keycode(KeyCode::KeyW)], Forward),
        (vec![Input::keycode(KeyCode::ArrowDown), Input::keycode(KeyCode::KeyS)], Back),
        (vec![Input::keycode(KeyCode::KeyF)], FXAA),
        (vec![Input::keycode(KeyCode::Space)], Jump)
    ]);
    let (screen_indices, verts, uvs) = mesh!(
        &display, &screen::INDICES, &screen::VERTICES, &screen::UVS
    );
    let screen_mesh = (&verts, &uvs);
    let (indices, verts, norms) = mesh!(
        &display, &teapot::INDICES, &teapot::VERTICES, &teapot::NORMALS
    );
    let teapot_mesh = (&verts, &norms);
    let draw_parameters = DrawParameters {
        backface_culling: draw_parameters::BackfaceCullingMode::CullClockwise,
        ..params::alias_3d()
    };
    let mut fxaa_on = true;
    let program = Program::from_source(
        &display, shaders::VERTEX,
        "#version 140
        out vec4 colour;
        in vec3 v_normal;
        uniform vec3 light;
        uniform mat4 camera;
        uniform vec3 ambient;
        uniform vec3 albedo;
        uniform float shine;
        void main() {
            vec3 camera_dir = inverse(mat3(camera)) * vec3(0, 0, -1);
            vec3 half_dir = normalize(camera_dir + light);
            float specular = pow(max(dot(half_dir, v_normal), 0.0), shine);
            float light_level = max(dot(light, v_normal), 0.0);
            colour = vec4(albedo * light_level + ambient + vec3(specular), 1.0);
        }", None
    ).unwrap();
    let fxaa = shaders::fxaa_shader(&display).unwrap();
    let normal = Program::from_source(
        &display, shaders::SCREEN_VERTEX, 
        "#version 140
        in vec2 uv;
        uniform sampler2D tex;
        out vec4 colour;
        void main() {
            colour = texture(tex, uv);
        }", None
    ).unwrap();

    let mut pos = vec3(0.0, 0.0, -30.0);
    let mut rot = vec2(0.0, 0.0);
    const DELTA: f32 = 0.016;

    thin_engine::run(event_loop, &mut input, |input| {
        // using a small resolution to show the effect.
        // `let size = window.inner_size().into();` 
        // can be used isntead to set resolution to window size
        let size = (380, 216);
        display.resize(size);
        depth.resize_to_display(&display);
        colour.resize_to_display(&display);

        //press f to toggle FXAA
        if input.pressed(FXAA) { fxaa_on = !fxaa_on }

        let colour = colour.texture.as_ref().unwrap();
        let depth = depth.texture.as_ref().unwrap();
        let mut frame = SimpleFrameBuffer::with_depth_buffer(
            &display, colour, depth
        ).unwrap();

        let view = Mat4::view_matrix_3d(size, 1.0, 1024.0, 0.1);        
        //set camera rotation
        rot += input.mouse_move.scale(DELTA * 2.0);
        rot.y = rot.y.clamp(-PI / 2.0, PI / 2.0);
        let rx = Quaternion::from_y_rotation(rot.x);
        let ry = Quaternion::from_x_rotation(rot.y);
        let rot = rx * ry;

        //move player based on view
        let x = input.axis(Right, Left);
        let y = input.axis(Forward, Back);
        let move_dir = vec3(x, 0.0, y).normalise().scale(5.0*DELTA);
        pos += move_dir.transform(&Mat3::from_rot(rx));

        frame.clear_color_and_depth((0.0, 0.0, 0.0, 1.0), 1.0);
        //draw teapot
        frame.draw(
            teapot_mesh, &indices,
            &program, &uniform! {
                view: view,
                model: Mat4::from_scale(Vec3::splat(0.1)),
                camera: Mat4::from_inverse_transform(pos, Vec3::ONE, rot),
                light: vec3(0.1, 0.25, -1.0).normalise(),
                albedo: vec3(0.5, 0.1, 0.4),
                ambient: vec3(0.0, 0.05, 0.1),
                shine: 10.0f32,
            },
            &draw_parameters,
        ).unwrap();

        let mut frame = display.draw();
        frame.draw(
            screen_mesh, &screen_indices, if fxaa_on { &fxaa } else { &normal },
            &shaders::fxaa_uniforms(colour), &DrawParameters::default()
        ).unwrap();
        frame.finish().unwrap();
        thread::sleep(Duration::from_millis(16));
    }).unwrap();
}
source

pub fn from_z_rotation(angle: f32) -> Quaternion

rotation around the z axis in radians

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pub fn from_axis_rotation(angle: f32, axis: Vec3) -> Quaternion

rotation around the inputed axis in radians

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pub fn inverse(self) -> Quaternion

get innverse of a quaternion. panics if all quaternions values are 0

Trait Implementations§

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impl Add for Quaternion

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fn add(self, rhs: Quaternion) -> <Quaternion as Add>::Output

Performs the + operation. Read more
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type Output = Quaternion

The resulting type after applying the + operator.
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impl AddAssign for Quaternion

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fn add_assign(&mut self, rhs: Quaternion)

Performs the += operation. Read more
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impl Clone for Quaternion

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fn clone(&self) -> Quaternion

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for Quaternion

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fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter. Read more
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impl From<Quaternion> for Mat3

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fn from(value: Quaternion) -> Mat3

Converts to this type from the input type.
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impl From<Quaternion> for Mat4

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fn from(value: Quaternion) -> Mat4

Converts to this type from the input type.
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impl Mul for Quaternion

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fn mul(self, rhs: Quaternion) -> <Quaternion as Mul>::Output

Performs the * operation. Read more
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type Output = Quaternion

The resulting type after applying the * operator.
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impl Neg for Quaternion

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type Output = Quaternion

The resulting type after applying the - operator.
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fn neg(self) -> <Quaternion as Neg>::Output

Performs the unary - operation. Read more
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impl PartialEq for Quaternion

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fn eq(&self, other: &Quaternion) -> bool

This method tests for self and other values to be equal, and is used by ==.
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fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl Sub for Quaternion

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fn sub(self, rhs: Quaternion) -> <Quaternion as Sub>::Output

Performs the - operation. Read more
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type Output = Quaternion

The resulting type after applying the - operator.
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impl SubAssign for Quaternion

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fn sub_assign(&mut self, rhs: Quaternion)

Performs the -= operation. Read more
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impl Copy for Quaternion

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impl StructuralPartialEq for Quaternion

Auto Trait Implementations§

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> CloneToUninit for T
where T: Clone,

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default unsafe fn clone_to_uninit(&self, dst: *mut T)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dst. Read more
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impl<T> CloneToUninit for T
where T: Copy,

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unsafe fn clone_to_uninit(&self, dst: *mut T)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dst. Read more
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impl<T> Content for T
where T: Copy,

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type Owned = T

A type that holds a sized version of the content.
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unsafe fn read<F, E>(size: usize, f: F) -> Result<T, E>
where F: FnOnce(&mut T) -> Result<(), E>,

Prepares an output buffer, then turns this buffer into an Owned. User-provided closure F must only write to and not read from &mut Self.
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fn get_elements_size() -> usize

Returns the size of each element.
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fn to_void_ptr(&self) -> *const ()

Produces a pointer to the data.
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fn ref_from_ptr<'a>(ptr: *mut (), size: usize) -> Option<*mut T>

Builds a pointer to this type from a raw pointer.
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fn is_size_suitable(size: usize) -> bool

Returns true if the size is suitable to store a type like this.
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impl<T> Downcast for T
where T: Any,

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fn into_any(self: Box<T>) -> Box<dyn Any>

Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can then be further downcast into Box<ConcreteType> where ConcreteType implements Trait.
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fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>

Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait.
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fn as_any(&self) -> &(dyn Any + 'static)

Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s.
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s.
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impl<T> DowncastSync for T
where T: Any + Send + Sync,

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fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait.
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T> Instrument for T

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fn instrument(self, span: Span) -> Instrumented<Self>

Instruments this type with the provided Span, returning an Instrumented wrapper. Read more
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fn in_current_span(self) -> Instrumented<Self>

Instruments this type with the current Span, returning an Instrumented wrapper. Read more
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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> ToOwned for T
where T: Clone,

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type Owned = T

The resulting type after obtaining ownership.
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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more
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fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more
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impl<T, U> TryFrom<U> for T
where U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.
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impl<T> WithSubscriber for T

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fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>
where S: Into<Dispatch>,

Attaches the provided Subscriber to this type, returning a WithDispatch wrapper. Read more
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fn with_current_subscriber(self) -> WithDispatch<Self>

Attaches the current default Subscriber to this type, returning a WithDispatch wrapper. Read more