vigilant_lamp/engine/
transform.rs

1use crate::{math::{array_ext::NumArray, matrix::{Matrix4}, quaternion::Quaternion32}};
2
3/// Struct representing a 3d transformation of an element
4pub struct Transform {
5    pub position: NumArray<f32,3>,
6    pub rotation: Quaternion32,
7    pub scale: NumArray<f32,3>
8}
9
10// INITS
11impl Transform {
12    pub fn default () -> Transform {
13        Transform { position: NumArray::zero(), rotation: Quaternion32::zero_rotation(), scale: NumArray::one() }
14    }
15
16    pub fn new (position: NumArray<f32, 3>, rotation: Quaternion32, scale: NumArray<f32, 3>) -> Transform {
17        Transform { position, rotation, scale }
18    }
19
20    pub fn of_position (position: NumArray<f32, 3>) -> Transform {
21        Transform { position, rotation: Quaternion32::zero_rotation(), scale: NumArray::one() }
22    }
23
24    pub fn of_rotation (rotation: Quaternion32) -> Transform {
25        Transform { position: NumArray::zero(), rotation, scale: NumArray::one() }
26    }
27
28    pub fn of_scale (scale: NumArray<f32, 3>) -> Transform {
29        Transform { position: NumArray::zero(), rotation: Quaternion32::zero_rotation(), scale }
30    }
31
32    pub fn of_angles (roll: f32, pitch: f32, yaw: f32) -> Transform {
33        Transform { position: NumArray::zero(), rotation: Quaternion32::from_angles(roll, pitch, yaw), scale: NumArray::one() }
34    }
35}
36
37// METHODS
38impl Transform {
39    pub fn set_scale (&mut self, value: f32) {
40        self.scale = NumArray([value, value, value])
41    }
42
43    pub fn rotate (&mut self, roll: f32, pitch: f32, yaw: f32) {
44        self.rotation = self.rotation * Quaternion32::from_angles(roll, pitch, yaw);
45        self.rotation = self.rotation.unit();
46    }
47
48    pub fn position_matrix (&self) -> Matrix4<f32> {
49        Matrix4::new([
50            NumArray([1., 0., 0., self.position.x()]),
51            NumArray([0., 1., 0., self.position.y()]),
52            NumArray([0., 0., 1., self.position.z()]),
53            NumArray([0., 0., 0., 1.]),
54        ])
55    }
56
57    pub fn scale_matrix (&self) -> Matrix4<f32> {
58        Matrix4::new([
59            NumArray([self.scale.x(), 0., 0., 0.]),
60            NumArray([0., self.scale.y(), 0., 0.]),
61            NumArray([0., 0., self.scale.z(), 0.]),
62            NumArray([0., 0., 0., 1.]),
63        ])
64    }
65
66    pub fn matrix (&self) -> Matrix4<f32> {
67        self.position_matrix() * self.rotation.rot_matrix4() * self.scale_matrix()
68    }
69}
vigilant_lamp/engine/transform.rs

vigilant_lamp/engine/
transform.rs
