pub struct Quat {
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 Quat
impl Quat
pub const IDENTITY: Quat = _
Sourcepub fn from_x_rot(angle: f32) -> Quat
pub fn from_x_rot(angle: f32) -> Quat
rotation around the x axis in radians
Examples found in repository?
examples/simple.rs (line 77)
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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 input = {
use thin_engine::input_map_setup::*;
input_map!(
(Jump, Space, GamepadButton::South),
(Exit, Escape, GamepadButton::Start),
(Left, ArrowLeft, KeyA, Axis(LeftStickX, Neg)),
(Right, ArrowRight, KeyD, Axis(LeftStickX, Pos)),
(Forward, ArrowUp, KeyW, Axis(LeftStickY, Neg)),
(Back, ArrowDown, KeyS, Axis(LeftStickY, Pos)),
(LookRight, MouseMoveX(Pos), Axis(RightStickX, Pos)),
(LookLeft, MouseMoveX(Neg), Axis(RightStickX, Neg)),
(LookUp, MouseMoveY(Pos), Axis(RightStickY, Neg)),
(LookDown, MouseMoveY(Neg), Axis(RightStickY, Pos))
)
};
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;
let mut frame_start = Instant::now();
thin_engine::run(event_loop, input, Settings::from_fps(60), |input, _settings, target| {
let delta_time = frame_start.elapsed().as_secs_f32();
frame_start = Instant::now();
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_time * 9.5;
if input.pressed(Jump) {
gravity = -10.0;
}
//set camera rotation
let look_move = input.dir(LookRight, LookLeft, LookUp, LookDown);
rot += look_move.scale(delta_time * 7.0);
rot.y = rot.y.clamp(-PI / 2.0, PI / 2.0);
let rx = Quat::from_y_rot(rot.x);
let ry = Quat::from_x_rot(rot.y);
let rot = rx * ry;
//move player based on view and gravity
let dir = input.dir_max_len_1(Right, Left, Forward, Back);
let move_dir = vec3(dir.x, 0.0, dir.y).scale(5.0*delta_time);
pos += move_dir.transform(&Mat3::from_rot(rx));
pos.y = (pos.y - gravity * delta_time).max(0.0);
if input.pressed(Exit) { target.exit() }
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();
}).unwrap();
}
More 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 input = { use thin_engine::input_map_setup::*; input_map!(
(Left, ArrowLeft, KeyA, Axis(LeftStickX, Neg)),
(Right, ArrowRight,KeyD, Axis(LeftStickX, Pos)),
(Forward, ArrowUp, KeyW, Axis(LeftStickY, Neg)),
(Back, ArrowDown, KeyS, Axis(LeftStickY, Pos)),
(LookRight, MouseMoveX(Pos), Axis(RightStickX, Pos)),
(LookLeft, MouseMoveX(Neg), Axis(RightStickX, Neg)),
(LookUp, MouseMoveY(Pos), Axis(RightStickY, Pos)),
(LookDown, MouseMoveY(Neg), Axis(RightStickY, Neg)),
(FXAA, KeyF, GamepadButton::North )
) };
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 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 fxaa = shaders::fxaa_shader(&display).unwrap();
let mut pos = vec3(0.0, 0.0, -30.0);
let mut rot = vec2(0.0, 0.0);
let mut frame_start = Instant::now();
thin_engine::run(event_loop, input, Settings::from_fps(60), |input, _, _| {
let delta_time = frame_start.elapsed().as_secs_f32();
frame_start = Instant::now();
// using a small resolution to better show the effect of fxaa.
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
let look_move = input.dir(LookRight, LookLeft, LookUp, LookDown);
rot += look_move.scale(delta_time * 2.0);
rot.y = rot.y.clamp(-PI / 2.0, PI / 2.0);
let rx = Quat::from_y_rot(rot.x);
let ry = Quat::from_x_rot(rot.y);
let rot = rx * ry;
//move player based on view
let dir = input.dir_max_len_1(Right, Left, Forward, Back);
let move_dir = vec3(dir.x, 0.0, dir.y).scale(5.0*delta_time);
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: 50.0f32,
},
&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();
}
Sourcepub fn from_y_rot(angle: f32) -> Quat
pub fn from_y_rot(angle: f32) -> Quat
rotation around the y axis in radians
Examples found in repository?
examples/simple.rs (line 76)
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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 input = {
use thin_engine::input_map_setup::*;
input_map!(
(Jump, Space, GamepadButton::South),
(Exit, Escape, GamepadButton::Start),
(Left, ArrowLeft, KeyA, Axis(LeftStickX, Neg)),
(Right, ArrowRight, KeyD, Axis(LeftStickX, Pos)),
(Forward, ArrowUp, KeyW, Axis(LeftStickY, Neg)),
(Back, ArrowDown, KeyS, Axis(LeftStickY, Pos)),
(LookRight, MouseMoveX(Pos), Axis(RightStickX, Pos)),
(LookLeft, MouseMoveX(Neg), Axis(RightStickX, Neg)),
(LookUp, MouseMoveY(Pos), Axis(RightStickY, Neg)),
(LookDown, MouseMoveY(Neg), Axis(RightStickY, Pos))
)
};
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;
let mut frame_start = Instant::now();
thin_engine::run(event_loop, input, Settings::from_fps(60), |input, _settings, target| {
let delta_time = frame_start.elapsed().as_secs_f32();
frame_start = Instant::now();
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_time * 9.5;
if input.pressed(Jump) {
gravity = -10.0;
}
//set camera rotation
let look_move = input.dir(LookRight, LookLeft, LookUp, LookDown);
rot += look_move.scale(delta_time * 7.0);
rot.y = rot.y.clamp(-PI / 2.0, PI / 2.0);
let rx = Quat::from_y_rot(rot.x);
let ry = Quat::from_x_rot(rot.y);
let rot = rx * ry;
//move player based on view and gravity
let dir = input.dir_max_len_1(Right, Left, Forward, Back);
let move_dir = vec3(dir.x, 0.0, dir.y).scale(5.0*delta_time);
pos += move_dir.transform(&Mat3::from_rot(rx));
pos.y = (pos.y - gravity * delta_time).max(0.0);
if input.pressed(Exit) { target.exit() }
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();
}).unwrap();
}
More 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 input = { use thin_engine::input_map_setup::*; input_map!(
(Left, ArrowLeft, KeyA, Axis(LeftStickX, Neg)),
(Right, ArrowRight,KeyD, Axis(LeftStickX, Pos)),
(Forward, ArrowUp, KeyW, Axis(LeftStickY, Neg)),
(Back, ArrowDown, KeyS, Axis(LeftStickY, Pos)),
(LookRight, MouseMoveX(Pos), Axis(RightStickX, Pos)),
(LookLeft, MouseMoveX(Neg), Axis(RightStickX, Neg)),
(LookUp, MouseMoveY(Pos), Axis(RightStickY, Pos)),
(LookDown, MouseMoveY(Neg), Axis(RightStickY, Neg)),
(FXAA, KeyF, GamepadButton::North )
) };
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 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 fxaa = shaders::fxaa_shader(&display).unwrap();
let mut pos = vec3(0.0, 0.0, -30.0);
let mut rot = vec2(0.0, 0.0);
let mut frame_start = Instant::now();
thin_engine::run(event_loop, input, Settings::from_fps(60), |input, _, _| {
let delta_time = frame_start.elapsed().as_secs_f32();
frame_start = Instant::now();
// using a small resolution to better show the effect of fxaa.
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
let look_move = input.dir(LookRight, LookLeft, LookUp, LookDown);
rot += look_move.scale(delta_time * 2.0);
rot.y = rot.y.clamp(-PI / 2.0, PI / 2.0);
let rx = Quat::from_y_rot(rot.x);
let ry = Quat::from_x_rot(rot.y);
let rot = rx * ry;
//move player based on view
let dir = input.dir_max_len_1(Right, Left, Forward, Back);
let move_dir = vec3(dir.x, 0.0, dir.y).scale(5.0*delta_time);
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: 50.0f32,
},
&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();
}
Sourcepub fn from_z_rot(angle: f32) -> Quat
pub fn from_z_rot(angle: f32) -> Quat
rotation around the z axis in radians
Sourcepub fn from_axis_rot(angle: f32, axis: Vec3) -> Quat
pub fn from_axis_rot(angle: f32, axis: Vec3) -> Quat
rotation around the inputed axis in radians
Trait Implementations§
Source§impl AddAssign for Quat
impl AddAssign for Quat
Source§fn add_assign(&mut self, rhs: Quat)
fn add_assign(&mut self, rhs: Quat)
Performs the
+=
operation. Read moreSource§impl SubAssign for Quat
impl SubAssign for Quat
Source§fn sub_assign(&mut self, rhs: Quat)
fn sub_assign(&mut self, rhs: Quat)
Performs the
-=
operation. Read moreimpl Copy for Quat
impl StructuralPartialEq for Quat
Auto Trait Implementations§
impl Freeze for Quat
impl RefUnwindSafe for Quat
impl Send for Quat
impl Sync for Quat
impl Unpin for Quat
impl UnwindSafe for Quat
Blanket Implementations§
Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
T: Clone,
Source§impl<T> Content for Twhere
T: Copy,
impl<T> Content for Twhere
T: Copy,
Source§unsafe fn read<F, E>(size: usize, f: F) -> Result<T, E>
unsafe fn read<F, E>(size: usize, f: F) -> Result<T, 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
.Source§fn get_elements_size() -> usize
fn get_elements_size() -> usize
Returns the size of each element.
Source§fn to_void_ptr(&self) -> *const ()
fn to_void_ptr(&self) -> *const ()
Produces a pointer to the data.
Source§fn ref_from_ptr<'a>(ptr: *mut (), size: usize) -> Option<*mut T>
fn ref_from_ptr<'a>(ptr: *mut (), size: usize) -> Option<*mut T>
Builds a pointer to this type from a raw pointer.
Source§fn is_size_suitable(size: usize) -> bool
fn is_size_suitable(size: usize) -> bool
Returns true if the size is suitable to store a type like this.
Source§impl<T> Downcast for Twhere
T: Any,
impl<T> Downcast for Twhere
T: Any,
Source§fn into_any(self: Box<T>) -> Box<dyn Any>
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
.Source§fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>
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
.Source§fn as_any(&self) -> &(dyn Any + 'static)
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.Source§fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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.