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 Gered
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Gered
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dc29f29289 |
651
ggdt/src/math/matrix4x4.rs
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651
ggdt/src/math/matrix4x4.rs
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@ -0,0 +1,651 @@
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use std::ops::{Mul, MulAssign};
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use crate::math::{nearly_equal, Vector3};
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/// Represents a 4x4 column-major matrix and provides common methods for matrix math.
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#[derive(Debug, Copy, Clone, PartialEq)]
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pub struct Matrix4x4 {
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pub m: [f32; 16],
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}
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impl Matrix4x4 {
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pub const M11: usize = 0;
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pub const M12: usize = 4;
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pub const M13: usize = 8;
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pub const M14: usize = 12;
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pub const M21: usize = 1;
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pub const M22: usize = 5;
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pub const M23: usize = 9;
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pub const M24: usize = 13;
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pub const M31: usize = 2;
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pub const M32: usize = 6;
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pub const M33: usize = 10;
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pub const M34: usize = 14;
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pub const M41: usize = 3;
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pub const M42: usize = 7;
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pub const M43: usize = 11;
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pub const M44: usize = 15;
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#[rustfmt::skip]
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pub const IDENTITY: Matrix4x4 = Matrix4x4 {
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m: [
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1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0
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],
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};
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/// Returns a new identity matrix.
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#[inline]
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pub fn identity() -> Matrix4x4 {
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Matrix4x4::IDENTITY
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}
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/// Creates a new matrix with the specified elements.
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#[allow(clippy::too_many_arguments)]
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#[rustfmt::skip]
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#[inline]
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pub fn new(
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m11: f32, m12: f32, m13: f32, m14: f32,
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m21: f32, m22: f32, m23: f32, m24: f32,
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m31: f32, m32: f32, m33: f32, m34: f32,
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m41: f32, m42: f32, m43: f32, m44: f32,
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) -> Matrix4x4 {
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Matrix4x4 {
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m: [
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m11, m21, m31, m41,
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m12, m22, m32, m42,
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m13, m23, m33, m43,
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m14, m24, m34, m44,
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]
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}
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}
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/// Creates a new rotation matrix from a set of euler angles.
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///
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/// # Arguments
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///
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/// * `x`: the x angle (in radians)
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/// * `y`: the y angle (in radians)
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/// * `z`: the z angle (in radians)
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pub fn from_euler_angles(x: f32, y: f32, z: f32) -> Matrix4x4 {
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let rotate_z = Matrix4x4::new_rotation_z(z);
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let rotate_y = Matrix4x4::new_rotation_y(y);
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let rotate_x = Matrix4x4::new_rotation_x(x);
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// "right-to-left" column-major matrix concatenation
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rotate_z * rotate_y * rotate_x
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}
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/// Creates a new rotation matrix for rotation around the x axis.
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///
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/// # Arguments
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///
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/// * `radians`: angle to rotate the x axis around (in radians)
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#[rustfmt::skip]
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#[inline]
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pub fn new_rotation_x(radians: f32) -> Matrix4x4 {
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let (s, c) = radians.sin_cos();
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Matrix4x4::new(
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1.0, 0.0, 0.0, 0.0,
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0.0, c, -s, 0.0,
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0.0, s, c, 0.0,
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0.0, 0.0, 0.0, 1.0
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)
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}
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/// Creates a new rotation matrix for rotation around the y axis.
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///
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/// # Arguments
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///
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/// * `radians`: angle to rotate the y axis around (in radians)
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#[rustfmt::skip]
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#[inline]
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pub fn new_rotation_y(radians: f32) -> Matrix4x4 {
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let (s, c) = radians.sin_cos();
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Matrix4x4::new(
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c, 0.0, s, 0.0,
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0.0, 1.0, 0.0, 0.0,
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-s, 0.0, c, 0.0,
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0.0, 0.0, 0.0, 1.0
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)
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}
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/// Creates a new rotation matrix for rotation around the z axis.
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///
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/// # Arguments
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///
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/// * `radians`: angle to rotate the z axis around (in radians)
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#[rustfmt::skip]
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#[inline]
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pub fn new_rotation_z(radians: f32) -> Matrix4x4 {
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let (s, c) = radians.sin_cos();
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Matrix4x4::new(
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c, -s, 0.0, 0.0,
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s, c, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0,
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)
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}
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/// Creates a translation matrix.
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///
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/// # Arguments
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///
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/// * `x`: the amount to translate on the x axis
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/// * `y`: the amount to translate on the y axis
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/// * `z`: the amount to translate on the z axis
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#[rustfmt::skip]
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#[inline]
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pub fn new_translation(x: f32, y: f32, z: f32) -> Matrix4x4 {
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Matrix4x4::new(
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1.0, 0.0, 0.0, x,
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0.0, 1.0, 0.0, y,
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0.0, 0.0, 1.0, z,
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0.0, 0.0, 0.0, 1.0,
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)
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}
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/// Creates a scaling matrix from scaling factors for each axis.
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///
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/// # Arguments
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///
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/// * `x`: the scale factor for the x axis
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/// * `y`: the scale factor for the y axis
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/// * `z`: the scale factor for the z axis
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#[rustfmt::skip]
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#[inline]
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pub fn new_scaling(x: f32, y: f32, z: f32) -> Matrix4x4 {
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Matrix4x4::new(
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x, 0.0, 0.0, 0.0,
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0.0, y, 0.0, 0.0,
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0.0, 0.0, z, 0.0,
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0.0, 0.0, 0.0, 1.0,
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)
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}
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/// Calculates the determinant of this matrix.
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#[rustfmt::skip]
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#[inline]
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pub fn determinant(&self) -> f32 {
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(self.m[Matrix4x4::M11] * self.m[Matrix4x4::M22] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M12]) *
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(self.m[Matrix4x4::M33] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M43] * self.m[Matrix4x4::M34]) -
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(self.m[Matrix4x4::M11] * self.m[Matrix4x4::M32] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M12]) *
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(self.m[Matrix4x4::M23] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M43] * self.m[Matrix4x4::M24]) +
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(self.m[Matrix4x4::M11] * self.m[Matrix4x4::M42] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M12]) *
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(self.m[Matrix4x4::M23] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M33] * self.m[Matrix4x4::M24]) +
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(self.m[Matrix4x4::M21] * self.m[Matrix4x4::M32] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M22]) *
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(self.m[Matrix4x4::M13] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M43] * self.m[Matrix4x4::M14]) -
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(self.m[Matrix4x4::M21] * self.m[Matrix4x4::M42] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M22]) *
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(self.m[Matrix4x4::M13] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M33] * self.m[Matrix4x4::M14]) +
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(self.m[Matrix4x4::M31] * self.m[Matrix4x4::M42] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M32]) *
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(self.m[Matrix4x4::M13] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M23] * self.m[Matrix4x4::M14])
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}
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/// Calculates the inverse of this matrix.
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#[rustfmt::skip]
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pub fn invert(&self) -> Matrix4x4 {
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let d = self.determinant();
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if nearly_equal(d, 0.0, 0.000001) {
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Matrix4x4::IDENTITY
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} else {
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let d = 1.0 / d;
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Matrix4x4 {
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m: [
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d * (self.m[Matrix4x4::M22] * (self.m[Matrix4x4::M33] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M43] * self.m[Matrix4x4::M34]) + self.m[Matrix4x4::M32] * (self.m[Matrix4x4::M43] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M23] * self.m[Matrix4x4::M44]) + self.m[Matrix4x4::M42] * (self.m[Matrix4x4::M23] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M33] * self.m[Matrix4x4::M24])),
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d * (self.m[Matrix4x4::M23] * (self.m[Matrix4x4::M31] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M34]) + self.m[Matrix4x4::M33] * (self.m[Matrix4x4::M41] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M44]) + self.m[Matrix4x4::M43] * (self.m[Matrix4x4::M21] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M24])),
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d * (self.m[Matrix4x4::M24] * (self.m[Matrix4x4::M31] * self.m[Matrix4x4::M42] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M32]) + self.m[Matrix4x4::M34] * (self.m[Matrix4x4::M41] * self.m[Matrix4x4::M22] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M42]) + self.m[Matrix4x4::M44] * (self.m[Matrix4x4::M21] * self.m[Matrix4x4::M32] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M22])),
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d * (self.m[Matrix4x4::M21] * (self.m[Matrix4x4::M42] * self.m[Matrix4x4::M33] - self.m[Matrix4x4::M32] * self.m[Matrix4x4::M43]) + self.m[Matrix4x4::M31] * (self.m[Matrix4x4::M22] * self.m[Matrix4x4::M43] - self.m[Matrix4x4::M42] * self.m[Matrix4x4::M23]) + self.m[Matrix4x4::M41] * (self.m[Matrix4x4::M32] * self.m[Matrix4x4::M23] - self.m[Matrix4x4::M22] * self.m[Matrix4x4::M33])),
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d * (self.m[Matrix4x4::M32] * (self.m[Matrix4x4::M13] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M43] * self.m[Matrix4x4::M14]) + self.m[Matrix4x4::M42] * (self.m[Matrix4x4::M33] * self.m[Matrix4x4::M14] - self.m[Matrix4x4::M13] * self.m[Matrix4x4::M34]) + self.m[Matrix4x4::M12] * (self.m[Matrix4x4::M43] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M33] * self.m[Matrix4x4::M44])),
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d * (self.m[Matrix4x4::M33] * (self.m[Matrix4x4::M11] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M14]) + self.m[Matrix4x4::M43] * (self.m[Matrix4x4::M31] * self.m[Matrix4x4::M14] - self.m[Matrix4x4::M11] * self.m[Matrix4x4::M34]) + self.m[Matrix4x4::M13] * (self.m[Matrix4x4::M41] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M44])),
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d * (self.m[Matrix4x4::M34] * (self.m[Matrix4x4::M11] * self.m[Matrix4x4::M42] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M12]) + self.m[Matrix4x4::M44] * (self.m[Matrix4x4::M31] * self.m[Matrix4x4::M12] - self.m[Matrix4x4::M11] * self.m[Matrix4x4::M32]) + self.m[Matrix4x4::M14] * (self.m[Matrix4x4::M41] * self.m[Matrix4x4::M32] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M42])),
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d * (self.m[Matrix4x4::M31] * (self.m[Matrix4x4::M42] * self.m[Matrix4x4::M13] - self.m[Matrix4x4::M12] * self.m[Matrix4x4::M43]) + self.m[Matrix4x4::M41] * (self.m[Matrix4x4::M12] * self.m[Matrix4x4::M33] - self.m[Matrix4x4::M32] * self.m[Matrix4x4::M13]) + self.m[Matrix4x4::M11] * (self.m[Matrix4x4::M32] * self.m[Matrix4x4::M43] - self.m[Matrix4x4::M42] * self.m[Matrix4x4::M33])),
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d * (self.m[Matrix4x4::M42] * (self.m[Matrix4x4::M13] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M23] * self.m[Matrix4x4::M14]) + self.m[Matrix4x4::M12] * (self.m[Matrix4x4::M23] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M43] * self.m[Matrix4x4::M24]) + self.m[Matrix4x4::M22] * (self.m[Matrix4x4::M43] * self.m[Matrix4x4::M14] - self.m[Matrix4x4::M13] * self.m[Matrix4x4::M44])),
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d * (self.m[Matrix4x4::M43] * (self.m[Matrix4x4::M11] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M14]) + self.m[Matrix4x4::M13] * (self.m[Matrix4x4::M21] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M24]) + self.m[Matrix4x4::M23] * (self.m[Matrix4x4::M41] * self.m[Matrix4x4::M14] - self.m[Matrix4x4::M11] * self.m[Matrix4x4::M44])),
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d * (self.m[Matrix4x4::M44] * (self.m[Matrix4x4::M11] * self.m[Matrix4x4::M22] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M12]) + self.m[Matrix4x4::M14] * (self.m[Matrix4x4::M21] * self.m[Matrix4x4::M42] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M22]) + self.m[Matrix4x4::M24] * (self.m[Matrix4x4::M41] * self.m[Matrix4x4::M12] - self.m[Matrix4x4::M11] * self.m[Matrix4x4::M42])),
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d * (self.m[Matrix4x4::M41] * (self.m[Matrix4x4::M22] * self.m[Matrix4x4::M13] - self.m[Matrix4x4::M12] * self.m[Matrix4x4::M23]) + self.m[Matrix4x4::M11] * (self.m[Matrix4x4::M42] * self.m[Matrix4x4::M23] - self.m[Matrix4x4::M22] * self.m[Matrix4x4::M43]) + self.m[Matrix4x4::M21] * (self.m[Matrix4x4::M12] * self.m[Matrix4x4::M43] - self.m[Matrix4x4::M42] * self.m[Matrix4x4::M13])),
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d * (self.m[Matrix4x4::M12] * (self.m[Matrix4x4::M33] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M23] * self.m[Matrix4x4::M34]) + self.m[Matrix4x4::M22] * (self.m[Matrix4x4::M13] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M33] * self.m[Matrix4x4::M14]) + self.m[Matrix4x4::M32] * (self.m[Matrix4x4::M23] * self.m[Matrix4x4::M14] - self.m[Matrix4x4::M13] * self.m[Matrix4x4::M24])),
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d * (self.m[Matrix4x4::M13] * (self.m[Matrix4x4::M31] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M34]) + self.m[Matrix4x4::M23] * (self.m[Matrix4x4::M11] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M14]) + self.m[Matrix4x4::M33] * (self.m[Matrix4x4::M21] * self.m[Matrix4x4::M14] - self.m[Matrix4x4::M11] * self.m[Matrix4x4::M24])),
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d * (self.m[Matrix4x4::M14] * (self.m[Matrix4x4::M31] * self.m[Matrix4x4::M22] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M32]) + self.m[Matrix4x4::M24] * (self.m[Matrix4x4::M11] * self.m[Matrix4x4::M32] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M12]) + self.m[Matrix4x4::M34] * (self.m[Matrix4x4::M21] * self.m[Matrix4x4::M12] - self.m[Matrix4x4::M11] * self.m[Matrix4x4::M22])),
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d * (self.m[Matrix4x4::M11] * (self.m[Matrix4x4::M22] * self.m[Matrix4x4::M33] - self.m[Matrix4x4::M32] * self.m[Matrix4x4::M23]) + self.m[Matrix4x4::M21] * (self.m[Matrix4x4::M32] * self.m[Matrix4x4::M13] - self.m[Matrix4x4::M12] * self.m[Matrix4x4::M33]) + self.m[Matrix4x4::M31] * (self.m[Matrix4x4::M12] * self.m[Matrix4x4::M23] - self.m[Matrix4x4::M22] * self.m[Matrix4x4::M13])),
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]
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}
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}
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}
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/// Calculates the transpose of this matrix.
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#[rustfmt::skip]
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pub fn transpose(&self) -> Matrix4x4 {
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Matrix4x4::new(
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self.m[Matrix4x4::M11], self.m[Matrix4x4::M21], self.m[Matrix4x4::M31], self.m[Matrix4x4::M41],
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self.m[Matrix4x4::M12], self.m[Matrix4x4::M22], self.m[Matrix4x4::M32], self.m[Matrix4x4::M42],
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self.m[Matrix4x4::M13], self.m[Matrix4x4::M23], self.m[Matrix4x4::M33], self.m[Matrix4x4::M43],
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self.m[Matrix4x4::M14], self.m[Matrix4x4::M24], self.m[Matrix4x4::M34], self.m[Matrix4x4::M44],
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)
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}
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/// Sets all of the elements of this matrix.
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#[allow(clippy::too_many_arguments)]
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#[rustfmt::skip]
|
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#[inline]
|
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pub fn set(
|
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&mut self,
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m11: f32, m12: f32, m13: f32, m14: f32,
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m21: f32, m22: f32, m23: f32, m24: f32,
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m31: f32, m32: f32, m33: f32, m34: f32,
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m41: f32, m42: f32, m43: f32, m44: f32,
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) {
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self.m = [
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m11, m21, m31, m41,
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m12, m22, m32, m42,
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m13, m23, m33, m43,
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m14, m24, m34, m44
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||||
];
|
||||
}
|
||||
}
|
||||
|
||||
#[rustfmt::skip]
|
||||
#[inline]
|
||||
fn matrix4x4_mul(left: Matrix4x4, right: Matrix4x4) -> [f32; 16] {
|
||||
[
|
||||
left.m[Matrix4x4::M11] * right.m[Matrix4x4::M11] + left.m[Matrix4x4::M12] * right.m[Matrix4x4::M21] + left.m[Matrix4x4::M13] * right.m[Matrix4x4::M31] + left.m[Matrix4x4::M14] * right.m[Matrix4x4::M41],
|
||||
left.m[Matrix4x4::M21] * right.m[Matrix4x4::M11] + left.m[Matrix4x4::M22] * right.m[Matrix4x4::M21] + left.m[Matrix4x4::M23] * right.m[Matrix4x4::M31] + left.m[Matrix4x4::M24] * right.m[Matrix4x4::M41],
|
||||
left.m[Matrix4x4::M31] * right.m[Matrix4x4::M11] + left.m[Matrix4x4::M32] * right.m[Matrix4x4::M21] + left.m[Matrix4x4::M33] * right.m[Matrix4x4::M31] + left.m[Matrix4x4::M34] * right.m[Matrix4x4::M41],
|
||||
left.m[Matrix4x4::M41] * right.m[Matrix4x4::M11] + left.m[Matrix4x4::M42] * right.m[Matrix4x4::M21] + left.m[Matrix4x4::M43] * right.m[Matrix4x4::M31] + left.m[Matrix4x4::M44] * right.m[Matrix4x4::M41],
|
||||
left.m[Matrix4x4::M11] * right.m[Matrix4x4::M12] + left.m[Matrix4x4::M12] * right.m[Matrix4x4::M22] + left.m[Matrix4x4::M13] * right.m[Matrix4x4::M32] + left.m[Matrix4x4::M14] * right.m[Matrix4x4::M42],
|
||||
left.m[Matrix4x4::M21] * right.m[Matrix4x4::M12] + left.m[Matrix4x4::M22] * right.m[Matrix4x4::M22] + left.m[Matrix4x4::M23] * right.m[Matrix4x4::M32] + left.m[Matrix4x4::M24] * right.m[Matrix4x4::M42],
|
||||
left.m[Matrix4x4::M31] * right.m[Matrix4x4::M12] + left.m[Matrix4x4::M32] * right.m[Matrix4x4::M22] + left.m[Matrix4x4::M33] * right.m[Matrix4x4::M32] + left.m[Matrix4x4::M34] * right.m[Matrix4x4::M42],
|
||||
left.m[Matrix4x4::M41] * right.m[Matrix4x4::M12] + left.m[Matrix4x4::M42] * right.m[Matrix4x4::M22] + left.m[Matrix4x4::M43] * right.m[Matrix4x4::M32] + left.m[Matrix4x4::M44] * right.m[Matrix4x4::M42],
|
||||
left.m[Matrix4x4::M11] * right.m[Matrix4x4::M13] + left.m[Matrix4x4::M12] * right.m[Matrix4x4::M23] + left.m[Matrix4x4::M13] * right.m[Matrix4x4::M33] + left.m[Matrix4x4::M14] * right.m[Matrix4x4::M43],
|
||||
left.m[Matrix4x4::M21] * right.m[Matrix4x4::M13] + left.m[Matrix4x4::M22] * right.m[Matrix4x4::M23] + left.m[Matrix4x4::M23] * right.m[Matrix4x4::M33] + left.m[Matrix4x4::M24] * right.m[Matrix4x4::M43],
|
||||
left.m[Matrix4x4::M31] * right.m[Matrix4x4::M13] + left.m[Matrix4x4::M32] * right.m[Matrix4x4::M23] + left.m[Matrix4x4::M33] * right.m[Matrix4x4::M33] + left.m[Matrix4x4::M34] * right.m[Matrix4x4::M43],
|
||||
left.m[Matrix4x4::M41] * right.m[Matrix4x4::M13] + left.m[Matrix4x4::M42] * right.m[Matrix4x4::M23] + left.m[Matrix4x4::M43] * right.m[Matrix4x4::M33] + left.m[Matrix4x4::M44] * right.m[Matrix4x4::M43],
|
||||
left.m[Matrix4x4::M11] * right.m[Matrix4x4::M14] + left.m[Matrix4x4::M12] * right.m[Matrix4x4::M24] + left.m[Matrix4x4::M13] * right.m[Matrix4x4::M34] + left.m[Matrix4x4::M14] * right.m[Matrix4x4::M44],
|
||||
left.m[Matrix4x4::M21] * right.m[Matrix4x4::M14] + left.m[Matrix4x4::M22] * right.m[Matrix4x4::M24] + left.m[Matrix4x4::M23] * right.m[Matrix4x4::M34] + left.m[Matrix4x4::M24] * right.m[Matrix4x4::M44],
|
||||
left.m[Matrix4x4::M31] * right.m[Matrix4x4::M14] + left.m[Matrix4x4::M32] * right.m[Matrix4x4::M24] + left.m[Matrix4x4::M33] * right.m[Matrix4x4::M34] + left.m[Matrix4x4::M34] * right.m[Matrix4x4::M44],
|
||||
left.m[Matrix4x4::M41] * right.m[Matrix4x4::M14] + left.m[Matrix4x4::M42] * right.m[Matrix4x4::M24] + left.m[Matrix4x4::M43] * right.m[Matrix4x4::M34] + left.m[Matrix4x4::M44] * right.m[Matrix4x4::M44],
|
||||
]
|
||||
}
|
||||
|
||||
impl Mul for Matrix4x4 {
|
||||
type Output = Self;
|
||||
|
||||
#[inline]
|
||||
fn mul(self, rhs: Self) -> Self::Output {
|
||||
Matrix4x4 { m: matrix4x4_mul(self, rhs) }
|
||||
}
|
||||
}
|
||||
|
||||
impl MulAssign for Matrix4x4 {
|
||||
#[inline]
|
||||
fn mul_assign(&mut self, rhs: Self) {
|
||||
self.m = matrix4x4_mul(*self, rhs);
|
||||
}
|
||||
}
|
||||
|
||||
impl Mul<Vector3> for Matrix4x4 {
|
||||
type Output = Vector3;
|
||||
|
||||
#[rustfmt::skip]
|
||||
#[inline]
|
||||
fn mul(self, rhs: Vector3) -> Self::Output {
|
||||
Vector3 {
|
||||
x: rhs.x * self.m[Matrix4x4::M11] + rhs.y * self.m[Matrix4x4::M12] + rhs.z * self.m[Matrix4x4::M13] + self.m[Matrix4x4::M14],
|
||||
y: rhs.x * self.m[Matrix4x4::M21] + rhs.y * self.m[Matrix4x4::M22] + rhs.z * self.m[Matrix4x4::M23] + self.m[Matrix4x4::M24],
|
||||
z: rhs.x * self.m[Matrix4x4::M31] + rhs.y * self.m[Matrix4x4::M32] + rhs.z * self.m[Matrix4x4::M33] + self.m[Matrix4x4::M34],
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use crate::math::*;
|
||||
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
pub fn test_new() {
|
||||
let m = Matrix4x4::new(
|
||||
1.1, 1.2, 1.3, 1.4, //
|
||||
2.1, 2.2, 2.3, 2.4, //
|
||||
3.1, 3.2, 3.3, 3.4, //
|
||||
4.1, 4.2, 4.3, 4.4,
|
||||
);
|
||||
assert_eq!(1.1, m.m[Matrix4x4::M11]);
|
||||
assert_eq!(1.2, m.m[Matrix4x4::M12]);
|
||||
assert_eq!(1.3, m.m[Matrix4x4::M13]);
|
||||
assert_eq!(1.4, m.m[Matrix4x4::M14]);
|
||||
assert_eq!(2.1, m.m[Matrix4x4::M21]);
|
||||
assert_eq!(2.2, m.m[Matrix4x4::M22]);
|
||||
assert_eq!(2.3, m.m[Matrix4x4::M23]);
|
||||
assert_eq!(2.4, m.m[Matrix4x4::M24]);
|
||||
assert_eq!(3.1, m.m[Matrix4x4::M31]);
|
||||
assert_eq!(3.2, m.m[Matrix4x4::M32]);
|
||||
assert_eq!(3.3, m.m[Matrix4x4::M33]);
|
||||
assert_eq!(3.4, m.m[Matrix4x4::M34]);
|
||||
assert_eq!(4.1, m.m[Matrix4x4::M41]);
|
||||
assert_eq!(4.2, m.m[Matrix4x4::M42]);
|
||||
assert_eq!(4.3, m.m[Matrix4x4::M43]);
|
||||
assert_eq!(4.4, m.m[Matrix4x4::M44]);
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_set() {
|
||||
let mut m = Matrix4x4 { m: [0.0; 16] };
|
||||
m.set(
|
||||
1.1, 1.2, 1.3, 1.4, //
|
||||
2.1, 2.2, 2.3, 2.4, //
|
||||
3.1, 3.2, 3.3, 3.4, //
|
||||
4.1, 4.2, 4.3, 4.4,
|
||||
);
|
||||
assert_eq!(1.1, m.m[Matrix4x4::M11]);
|
||||
assert_eq!(1.2, m.m[Matrix4x4::M12]);
|
||||
assert_eq!(1.3, m.m[Matrix4x4::M13]);
|
||||
assert_eq!(1.4, m.m[Matrix4x4::M14]);
|
||||
assert_eq!(2.1, m.m[Matrix4x4::M21]);
|
||||
assert_eq!(2.2, m.m[Matrix4x4::M22]);
|
||||
assert_eq!(2.3, m.m[Matrix4x4::M23]);
|
||||
assert_eq!(2.4, m.m[Matrix4x4::M24]);
|
||||
assert_eq!(3.1, m.m[Matrix4x4::M31]);
|
||||
assert_eq!(3.2, m.m[Matrix4x4::M32]);
|
||||
assert_eq!(3.3, m.m[Matrix4x4::M33]);
|
||||
assert_eq!(3.4, m.m[Matrix4x4::M34]);
|
||||
assert_eq!(4.1, m.m[Matrix4x4::M41]);
|
||||
assert_eq!(4.2, m.m[Matrix4x4::M42]);
|
||||
assert_eq!(4.3, m.m[Matrix4x4::M43]);
|
||||
assert_eq!(4.4, m.m[Matrix4x4::M44]);
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_identity() {
|
||||
let m = Matrix4x4::identity();
|
||||
assert_eq!(1.0, m.m[Matrix4x4::M11]);
|
||||
assert_eq!(0.0, m.m[Matrix4x4::M12]);
|
||||
assert_eq!(0.0, m.m[Matrix4x4::M13]);
|
||||
assert_eq!(0.0, m.m[Matrix4x4::M14]);
|
||||
assert_eq!(0.0, m.m[Matrix4x4::M21]);
|
||||
assert_eq!(1.0, m.m[Matrix4x4::M22]);
|
||||
assert_eq!(0.0, m.m[Matrix4x4::M23]);
|
||||
assert_eq!(0.0, m.m[Matrix4x4::M24]);
|
||||
assert_eq!(0.0, m.m[Matrix4x4::M31]);
|
||||
assert_eq!(0.0, m.m[Matrix4x4::M32]);
|
||||
assert_eq!(1.0, m.m[Matrix4x4::M33]);
|
||||
assert_eq!(0.0, m.m[Matrix4x4::M34]);
|
||||
assert_eq!(0.0, m.m[Matrix4x4::M41]);
|
||||
assert_eq!(0.0, m.m[Matrix4x4::M42]);
|
||||
assert_eq!(0.0, m.m[Matrix4x4::M43]);
|
||||
assert_eq!(1.0, m.m[Matrix4x4::M44]);
|
||||
}
|
||||
|
||||
#[rustfmt::skip]
|
||||
#[test]
|
||||
pub fn test_transpose() {
|
||||
let m = Matrix4x4::new(
|
||||
1.0, 2.0, 3.0, 4.0,
|
||||
5.0, 6.0, 7.0, 8.0,
|
||||
9.0, 10.0, 11.0, 12.0,
|
||||
13.0, 14.0, 15.0, 16.0,
|
||||
);
|
||||
let t = m.transpose();
|
||||
assert_eq!(1.0, t.m[Matrix4x4::M11]);
|
||||
assert_eq!(5.0, t.m[Matrix4x4::M12]);
|
||||
assert_eq!(9.0, t.m[Matrix4x4::M13]);
|
||||
assert_eq!(13.0, t.m[Matrix4x4::M14]);
|
||||
assert_eq!(2.0, t.m[Matrix4x4::M21]);
|
||||
assert_eq!(6.0, t.m[Matrix4x4::M22]);
|
||||
assert_eq!(10.0, t.m[Matrix4x4::M23]);
|
||||
assert_eq!(14.0, t.m[Matrix4x4::M24]);
|
||||
assert_eq!(3.0, t.m[Matrix4x4::M31]);
|
||||
assert_eq!(7.0, t.m[Matrix4x4::M32]);
|
||||
assert_eq!(11.0, t.m[Matrix4x4::M33]);
|
||||
assert_eq!(15.0, t.m[Matrix4x4::M34]);
|
||||
assert_eq!(4.0, t.m[Matrix4x4::M41]);
|
||||
assert_eq!(8.0, t.m[Matrix4x4::M42]);
|
||||
assert_eq!(12.0, t.m[Matrix4x4::M43]);
|
||||
assert_eq!(16.0, t.m[Matrix4x4::M44]);
|
||||
}
|
||||
|
||||
#[rustfmt::skip]
|
||||
#[test]
|
||||
pub fn test_mul() {
|
||||
let a = Matrix4x4::new(
|
||||
5.0, 7.0, 9.0, 10.0,
|
||||
2.0, 3.0, 3.0, 8.0,
|
||||
8.0, 10.0, 2.0, 3.0,
|
||||
3.0, 3.0, 4.0, 8.0
|
||||
);
|
||||
let b = Matrix4x4::new(
|
||||
3.0, 10.0, 12.0, 18.0,
|
||||
12.0, 1.0, 4.0, 9.0,
|
||||
9.0, 10.0, 12.0, 2.0,
|
||||
3.0, 12.0, 4.0, 10.0
|
||||
);
|
||||
|
||||
let c = a * b;
|
||||
assert!(nearly_equal(210.0, c.m[Matrix4x4::M11], 0.001));
|
||||
assert!(nearly_equal(267.0, c.m[Matrix4x4::M12], 0.001));
|
||||
assert!(nearly_equal(236.0, c.m[Matrix4x4::M13], 0.001));
|
||||
assert!(nearly_equal(271.0, c.m[Matrix4x4::M14], 0.001));
|
||||
assert!(nearly_equal(93.0, c.m[Matrix4x4::M21], 0.001));
|
||||
assert!(nearly_equal(149.0, c.m[Matrix4x4::M22], 0.001));
|
||||
assert!(nearly_equal(104.0, c.m[Matrix4x4::M23], 0.001));
|
||||
assert!(nearly_equal(149.0, c.m[Matrix4x4::M24], 0.001));
|
||||
assert!(nearly_equal(171.0, c.m[Matrix4x4::M31], 0.001));
|
||||
assert!(nearly_equal(146.0, c.m[Matrix4x4::M32], 0.001));
|
||||
assert!(nearly_equal(172.0, c.m[Matrix4x4::M33], 0.001));
|
||||
assert!(nearly_equal(268.0, c.m[Matrix4x4::M34], 0.001));
|
||||
assert!(nearly_equal(105.0, c.m[Matrix4x4::M41], 0.001));
|
||||
assert!(nearly_equal(169.0, c.m[Matrix4x4::M42], 0.001));
|
||||
assert!(nearly_equal(128.0, c.m[Matrix4x4::M43], 0.001));
|
||||
assert!(nearly_equal(169.0, c.m[Matrix4x4::M44], 0.001));
|
||||
|
||||
let c = b * a;
|
||||
assert!(nearly_equal(185.0, c.m[Matrix4x4::M11], 0.001));
|
||||
assert!(nearly_equal(225.0, c.m[Matrix4x4::M12], 0.001));
|
||||
assert!(nearly_equal(153.0, c.m[Matrix4x4::M13], 0.001));
|
||||
assert!(nearly_equal(290.0, c.m[Matrix4x4::M14], 0.001));
|
||||
assert!(nearly_equal(121.0, c.m[Matrix4x4::M21], 0.001));
|
||||
assert!(nearly_equal(154.0, c.m[Matrix4x4::M22], 0.001));
|
||||
assert!(nearly_equal(155.0, c.m[Matrix4x4::M23], 0.001));
|
||||
assert!(nearly_equal(212.0, c.m[Matrix4x4::M24], 0.001));
|
||||
assert!(nearly_equal(167.0, c.m[Matrix4x4::M31], 0.001));
|
||||
assert!(nearly_equal(219.0, c.m[Matrix4x4::M32], 0.001));
|
||||
assert!(nearly_equal(143.0, c.m[Matrix4x4::M33], 0.001));
|
||||
assert!(nearly_equal(222.0, c.m[Matrix4x4::M34], 0.001));
|
||||
assert!(nearly_equal(101.0, c.m[Matrix4x4::M41], 0.001));
|
||||
assert!(nearly_equal(127.0, c.m[Matrix4x4::M42], 0.001));
|
||||
assert!(nearly_equal(111.0, c.m[Matrix4x4::M43], 0.001));
|
||||
assert!(nearly_equal(218.0, c.m[Matrix4x4::M44], 0.001));
|
||||
}
|
||||
|
||||
#[rustfmt::skip]
|
||||
#[test]
|
||||
pub fn test_mul_assign() {
|
||||
let mut a = Matrix4x4::new(
|
||||
5.0, 7.0, 9.0, 10.0,
|
||||
2.0, 3.0, 3.0, 8.0,
|
||||
8.0, 10.0, 2.0, 3.0,
|
||||
3.0, 3.0, 4.0, 8.0
|
||||
);
|
||||
let b = Matrix4x4::new(
|
||||
3.0, 10.0, 12.0, 18.0,
|
||||
12.0, 1.0, 4.0, 9.0,
|
||||
9.0, 10.0, 12.0, 2.0,
|
||||
3.0, 12.0, 4.0, 10.0
|
||||
);
|
||||
|
||||
a *= b;
|
||||
assert!(nearly_equal(210.0, a.m[Matrix4x4::M11], 0.001));
|
||||
assert!(nearly_equal(267.0, a.m[Matrix4x4::M12], 0.001));
|
||||
assert!(nearly_equal(236.0, a.m[Matrix4x4::M13], 0.001));
|
||||
assert!(nearly_equal(271.0, a.m[Matrix4x4::M14], 0.001));
|
||||
assert!(nearly_equal(93.0, a.m[Matrix4x4::M21], 0.001));
|
||||
assert!(nearly_equal(149.0, a.m[Matrix4x4::M22], 0.001));
|
||||
assert!(nearly_equal(104.0, a.m[Matrix4x4::M23], 0.001));
|
||||
assert!(nearly_equal(149.0, a.m[Matrix4x4::M24], 0.001));
|
||||
assert!(nearly_equal(171.0, a.m[Matrix4x4::M31], 0.001));
|
||||
assert!(nearly_equal(146.0, a.m[Matrix4x4::M32], 0.001));
|
||||
assert!(nearly_equal(172.0, a.m[Matrix4x4::M33], 0.001));
|
||||
assert!(nearly_equal(268.0, a.m[Matrix4x4::M34], 0.001));
|
||||
assert!(nearly_equal(105.0, a.m[Matrix4x4::M41], 0.001));
|
||||
assert!(nearly_equal(169.0, a.m[Matrix4x4::M42], 0.001));
|
||||
assert!(nearly_equal(128.0, a.m[Matrix4x4::M43], 0.001));
|
||||
assert!(nearly_equal(169.0, a.m[Matrix4x4::M44], 0.001));
|
||||
|
||||
let a = Matrix4x4::new(
|
||||
5.0, 7.0, 9.0, 10.0,
|
||||
2.0, 3.0, 3.0, 8.0,
|
||||
8.0, 10.0, 2.0, 3.0,
|
||||
3.0, 3.0, 4.0, 8.0
|
||||
);
|
||||
let mut b = Matrix4x4::new(
|
||||
3.0, 10.0, 12.0, 18.0,
|
||||
12.0, 1.0, 4.0, 9.0,
|
||||
9.0, 10.0, 12.0, 2.0,
|
||||
3.0, 12.0, 4.0, 10.0
|
||||
);
|
||||
|
||||
b *= a;
|
||||
assert!(nearly_equal(185.0, b.m[Matrix4x4::M11], 0.001));
|
||||
assert!(nearly_equal(225.0, b.m[Matrix4x4::M12], 0.001));
|
||||
assert!(nearly_equal(153.0, b.m[Matrix4x4::M13], 0.001));
|
||||
assert!(nearly_equal(290.0, b.m[Matrix4x4::M14], 0.001));
|
||||
assert!(nearly_equal(121.0, b.m[Matrix4x4::M21], 0.001));
|
||||
assert!(nearly_equal(154.0, b.m[Matrix4x4::M22], 0.001));
|
||||
assert!(nearly_equal(155.0, b.m[Matrix4x4::M23], 0.001));
|
||||
assert!(nearly_equal(212.0, b.m[Matrix4x4::M24], 0.001));
|
||||
assert!(nearly_equal(167.0, b.m[Matrix4x4::M31], 0.001));
|
||||
assert!(nearly_equal(219.0, b.m[Matrix4x4::M32], 0.001));
|
||||
assert!(nearly_equal(143.0, b.m[Matrix4x4::M33], 0.001));
|
||||
assert!(nearly_equal(222.0, b.m[Matrix4x4::M34], 0.001));
|
||||
assert!(nearly_equal(101.0, b.m[Matrix4x4::M41], 0.001));
|
||||
assert!(nearly_equal(127.0, b.m[Matrix4x4::M42], 0.001));
|
||||
assert!(nearly_equal(111.0, b.m[Matrix4x4::M43], 0.001));
|
||||
assert!(nearly_equal(218.0, b.m[Matrix4x4::M44], 0.001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_translation() {
|
||||
let v = Vector3::new(10.2, 5.7, 1.8);
|
||||
let m = Matrix4x4::new_translation(2.0, 3.0, -1.7);
|
||||
let t = m * v;
|
||||
assert!(nearly_equal(12.2, t.x, 0.001));
|
||||
assert!(nearly_equal(8.7, t.y, 0.001));
|
||||
assert!(nearly_equal(0.1, t.z, 0.001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_scaling() {
|
||||
let v = Vector3::new(10.2, 5.7, 1.8);
|
||||
let m = Matrix4x4::new_scaling(3.0, 4.0, 0.5);
|
||||
let t = m * v;
|
||||
assert!(nearly_equal(30.6, t.x, 0.001));
|
||||
assert!(nearly_equal(22.8, t.y, 0.001));
|
||||
assert!(nearly_equal(0.9, t.z, 0.001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_rotation_x() {
|
||||
let v = Vector3::new(10.2, 5.7, 1.8);
|
||||
let m = Matrix4x4::new_rotation_x(45.0f32.to_radians());
|
||||
let t = m * v;
|
||||
assert!(nearly_equal(10.2, t.x, 0.001));
|
||||
assert!(nearly_equal(2.757, t.y, 0.001));
|
||||
assert!(nearly_equal(5.303, t.z, 0.001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_rotation_y() {
|
||||
let v = Vector3::new(10.2, 5.7, 1.8);
|
||||
let m = Matrix4x4::new_rotation_y(45.0f32.to_radians());
|
||||
let t = m * v;
|
||||
assert!(nearly_equal(8.485, t.x, 0.001));
|
||||
assert!(nearly_equal(5.7, t.y, 0.001));
|
||||
assert!(nearly_equal(-5.939, t.z, 0.001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_rotation_z() {
|
||||
let v = Vector3::new(10.2, 5.7, 1.8);
|
||||
let m = Matrix4x4::new_rotation_z(45.0f32.to_radians());
|
||||
let t = m * v;
|
||||
assert!(nearly_equal(3.181, t.x, 0.001));
|
||||
assert!(nearly_equal(11.243, t.y, 0.001));
|
||||
assert!(nearly_equal(1.8, t.z, 0.001));
|
||||
}
|
||||
|
||||
#[rustfmt::skip]
|
||||
#[test]
|
||||
pub fn test_determinant() {
|
||||
let m = Matrix4x4::new(
|
||||
1.0, 2.0, 6.0, 6.0,
|
||||
4.0, 7.0, 3.0, 2.0,
|
||||
0.0, 0.0, 0.0, 0.0,
|
||||
1.0, 2.0, 2.0, 9.0
|
||||
);
|
||||
let d = m.determinant();
|
||||
assert!(nearly_equal(0.0, d, 0.000001));
|
||||
|
||||
let m = Matrix4x4::new(
|
||||
5.0, 7.0, 9.0, 10.0,
|
||||
2.0, 3.0, 3.0, 8.0,
|
||||
8.0, 10.0, 2.0, 3.0,
|
||||
3.0, 3.0, 4.0, 8.0
|
||||
);
|
||||
let d = m.determinant();
|
||||
assert!(nearly_equal(-361.0, d, 0.001));
|
||||
}
|
||||
|
||||
#[rustfmt::skip]
|
||||
#[test]
|
||||
pub fn test_invert() {
|
||||
let m = Matrix4x4::new(
|
||||
1.0, 2.0, 6.0, 6.0,
|
||||
4.0, 7.0, 3.0, 2.0,
|
||||
0.0, 0.0, 0.0, 0.0,
|
||||
1.0, 2.0, 2.0, 9.0
|
||||
);
|
||||
let inv = m.invert();
|
||||
assert!(nearly_equal(1.0, inv.m[Matrix4x4::M11], 0.000001));
|
||||
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M12], 0.000001));
|
||||
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M13], 0.000001));
|
||||
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M14], 0.000001));
|
||||
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M21], 0.000001));
|
||||
assert!(nearly_equal(1.0, inv.m[Matrix4x4::M22], 0.000001));
|
||||
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M23], 0.000001));
|
||||
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M24], 0.000001));
|
||||
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M31], 0.000001));
|
||||
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M32], 0.000001));
|
||||
assert!(nearly_equal(1.0, inv.m[Matrix4x4::M33], 0.000001));
|
||||
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M34], 0.000001));
|
||||
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M41], 0.000001));
|
||||
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M42], 0.000001));
|
||||
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M43], 0.000001));
|
||||
assert!(nearly_equal(1.0, inv.m[Matrix4x4::M44], 0.000001));
|
||||
|
||||
let m = Matrix4x4::new(
|
||||
5.0, 7.0, 9.0, 10.0,
|
||||
2.0, 3.0, 3.0, 8.0,
|
||||
8.0, 10.0, 2.0, 3.0,
|
||||
3.0, 3.0, 4.0, 8.0
|
||||
);
|
||||
let inv = m.invert();
|
||||
assert!(nearly_equal(-0.196676, inv.m[Matrix4x4::M11], 0.000001));
|
||||
assert!(nearly_equal(-0.750693, inv.m[Matrix4x4::M12], 0.000001));
|
||||
assert!(nearly_equal( 0.072022, inv.m[Matrix4x4::M13], 0.000001));
|
||||
assert!(nearly_equal( 0.969529, inv.m[Matrix4x4::M14], 0.000001));
|
||||
assert!(nearly_equal( 0.141274, inv.m[Matrix4x4::M21], 0.000001));
|
||||
assert!(nearly_equal( 0.595568, inv.m[Matrix4x4::M22], 0.000001));
|
||||
assert!(nearly_equal( 0.060941, inv.m[Matrix4x4::M23], 0.000001));
|
||||
assert!(nearly_equal(-0.795014, inv.m[Matrix4x4::M24], 0.000001));
|
||||
assert!(nearly_equal( 0.196676, inv.m[Matrix4x4::M31], 0.000001));
|
||||
assert!(nearly_equal(-0.249307, inv.m[Matrix4x4::M32], 0.000001));
|
||||
assert!(nearly_equal(-0.072022, inv.m[Matrix4x4::M33], 0.000001));
|
||||
assert!(nearly_equal( 0.030471, inv.m[Matrix4x4::M34], 0.000001));
|
||||
assert!(nearly_equal(-0.077562, inv.m[Matrix4x4::M41], 0.000001));
|
||||
assert!(nearly_equal( 0.182825, inv.m[Matrix4x4::M42], 0.000001));
|
||||
assert!(nearly_equal(-0.013850, inv.m[Matrix4x4::M43], 0.000001));
|
||||
assert!(nearly_equal( 0.044321, inv.m[Matrix4x4::M44], 0.000001));
|
||||
}
|
||||
}
|
||||
|
|
@ -4,13 +4,17 @@ use std::simd::{SimdFloat, SimdPartialOrd};
|
|||
|
||||
mod circle;
|
||||
mod matrix3x3;
|
||||
mod matrix4x4;
|
||||
mod rect;
|
||||
mod vector2;
|
||||
mod vector3;
|
||||
|
||||
pub use circle::*;
|
||||
pub use matrix3x3::*;
|
||||
pub use matrix4x4::*;
|
||||
pub use rect::*;
|
||||
pub use vector2::*;
|
||||
pub use vector3::*;
|
||||
|
||||
pub const PI: f32 = std::f32::consts::PI;
|
||||
// 180 degrees
|
||||
|
|
|
|||
455
ggdt/src/math/vector3.rs
Normal file
455
ggdt/src/math/vector3.rs
Normal file
|
|
@ -0,0 +1,455 @@
|
|||
use std::ops::{Add, AddAssign, Div, DivAssign, Mul, MulAssign, Neg, Sub, SubAssign};
|
||||
|
||||
use crate::math::{nearly_equal, NearlyEqual};
|
||||
|
||||
/// Represents a 3D vector and provides common methods for vector math.
|
||||
/// Uses a right-handed 3D coordinate system.
|
||||
#[derive(Debug, Copy, Clone, PartialEq)]
|
||||
pub struct Vector3 {
|
||||
pub x: f32,
|
||||
pub y: f32,
|
||||
pub z: f32,
|
||||
}
|
||||
|
||||
impl Vector3 {
|
||||
pub const ZERO: Vector3 = Vector3 { x: 0.0, y: 0.0, z: 0.0 };
|
||||
|
||||
pub const UP: Vector3 = Vector3 { x: 0.0, y: 1.0, z: 0.0 };
|
||||
pub const DOWN: Vector3 = Vector3 { x: 0.0, y: -1.0, z: 0.0 };
|
||||
pub const FORWARD: Vector3 = Vector3 { x: 0.0, y: 0.0, z: -1.0 };
|
||||
pub const BACKWARD: Vector3 = Vector3 { x: 0.0, y: 0.0, z: 1.0 };
|
||||
pub const LEFT: Vector3 = Vector3 { x: -1.0, y: 0.0, z: 0.0 };
|
||||
pub const RIGHT: Vector3 = Vector3 { x: 1.0, y: 0.0, z: 0.0 };
|
||||
|
||||
pub const X_AXIS: Vector3 = Vector3 { x: 1.0, y: 0.0, z: 0.0 };
|
||||
pub const Y_AXIS: Vector3 = Vector3 { x: 0.0, y: 1.0, z: 0.0 };
|
||||
pub const Z_AXIS: Vector3 = Vector3 { x: 0.0, y: 0.0, z: 1.0 };
|
||||
|
||||
/// Creates a new vector with the specified X, Y and Z components.
|
||||
#[inline]
|
||||
pub fn new(x: f32, y: f32, z: f32) -> Vector3 {
|
||||
Vector3 { x, y, z }
|
||||
}
|
||||
|
||||
/// Returns the cross product of this and another vector.
|
||||
#[inline]
|
||||
pub fn cross(&self, other: &Vector3) -> Vector3 {
|
||||
Vector3 {
|
||||
x: (self.y * other.z) - (self.z * other.y),
|
||||
y: (self.z * other.x) - (self.x * other.z),
|
||||
z: (self.x * other.y) - (self.y * other.x),
|
||||
}
|
||||
}
|
||||
|
||||
/// Calculates the distance between this and another vector.
|
||||
#[inline]
|
||||
pub fn distance(&self, other: &Vector3) -> f32 {
|
||||
self.distance_squared(other).sqrt()
|
||||
}
|
||||
|
||||
/// Calculates the squared distance between this and another vector.
|
||||
#[inline]
|
||||
pub fn distance_squared(&self, other: &Vector3) -> f32 {
|
||||
((other.x - self.x) * (other.x - self.x))
|
||||
+ ((other.y - self.y) * (other.y - self.y))
|
||||
+ ((other.z - self.z) * (other.z - self.z))
|
||||
}
|
||||
|
||||
/// Calculates the dot product of this and another vector.
|
||||
#[inline]
|
||||
pub fn dot(&self, other: &Vector3) -> f32 {
|
||||
(self.x * other.x) + (self.y * other.y) + (self.z * other.z)
|
||||
}
|
||||
|
||||
/// Calculate the length (a.k.a. magnitude) of this vector.
|
||||
#[inline]
|
||||
pub fn length(&self) -> f32 {
|
||||
self.length_squared().sqrt()
|
||||
}
|
||||
|
||||
/// Calculates the squared length of this vector.
|
||||
#[inline]
|
||||
pub fn length_squared(&self) -> f32 {
|
||||
(self.x * self.x) + (self.y * self.y) + (self.z * self.z)
|
||||
}
|
||||
|
||||
/// Returns a normalized vector from this vector.
|
||||
#[inline]
|
||||
pub fn normalize(&self) -> Vector3 {
|
||||
let inverse_length = 1.0 / self.length();
|
||||
Vector3 {
|
||||
x: self.x * inverse_length, //
|
||||
y: self.y * inverse_length,
|
||||
z: self.z * inverse_length,
|
||||
}
|
||||
}
|
||||
|
||||
/// Returns an extended (or shrunk) vector from this vector, where the returned vector will
|
||||
/// have a length exactly matching the specified length, but will return the same direction.
|
||||
#[inline]
|
||||
pub fn extend(&self, length: f32) -> Vector3 {
|
||||
*self * (length / self.length())
|
||||
}
|
||||
}
|
||||
|
||||
impl Neg for Vector3 {
|
||||
type Output = Self;
|
||||
|
||||
#[inline]
|
||||
fn neg(self) -> Self::Output {
|
||||
Vector3 {
|
||||
x: -self.x, //
|
||||
y: -self.y,
|
||||
z: -self.z,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl Add for Vector3 {
|
||||
type Output = Self;
|
||||
|
||||
#[inline]
|
||||
fn add(self, rhs: Self) -> Self::Output {
|
||||
Vector3 {
|
||||
x: self.x + rhs.x, //
|
||||
y: self.y + rhs.y,
|
||||
z: self.z + rhs.z,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl AddAssign for Vector3 {
|
||||
#[inline]
|
||||
fn add_assign(&mut self, rhs: Self) {
|
||||
self.x += rhs.x;
|
||||
self.y += rhs.y;
|
||||
self.z += rhs.z;
|
||||
}
|
||||
}
|
||||
|
||||
impl Sub for Vector3 {
|
||||
type Output = Self;
|
||||
|
||||
#[inline]
|
||||
fn sub(self, rhs: Self) -> Self::Output {
|
||||
Vector3 {
|
||||
x: self.x - rhs.x, //
|
||||
y: self.y - rhs.y,
|
||||
z: self.z - rhs.z,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl SubAssign for Vector3 {
|
||||
#[inline]
|
||||
fn sub_assign(&mut self, rhs: Self) {
|
||||
self.x -= rhs.x;
|
||||
self.y -= rhs.y;
|
||||
self.z -= rhs.z;
|
||||
}
|
||||
}
|
||||
|
||||
impl Mul for Vector3 {
|
||||
type Output = Self;
|
||||
|
||||
#[inline]
|
||||
fn mul(self, rhs: Self) -> Self::Output {
|
||||
Vector3 {
|
||||
x: self.x * rhs.x, //
|
||||
y: self.y * rhs.y,
|
||||
z: self.z * rhs.z,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl MulAssign for Vector3 {
|
||||
#[inline]
|
||||
fn mul_assign(&mut self, rhs: Self) {
|
||||
self.x *= rhs.x;
|
||||
self.y *= rhs.y;
|
||||
self.z *= rhs.z;
|
||||
}
|
||||
}
|
||||
|
||||
impl Div for Vector3 {
|
||||
type Output = Self;
|
||||
|
||||
#[inline]
|
||||
fn div(self, rhs: Self) -> Self::Output {
|
||||
Vector3 {
|
||||
x: self.x / rhs.x, //
|
||||
y: self.y / rhs.y,
|
||||
z: self.z / rhs.z,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl DivAssign for Vector3 {
|
||||
#[inline]
|
||||
fn div_assign(&mut self, rhs: Self) {
|
||||
self.x /= rhs.x;
|
||||
self.y /= rhs.y;
|
||||
self.z /= rhs.z;
|
||||
}
|
||||
}
|
||||
|
||||
impl Mul<f32> for Vector3 {
|
||||
type Output = Self;
|
||||
|
||||
#[inline]
|
||||
fn mul(self, rhs: f32) -> Self::Output {
|
||||
Vector3 {
|
||||
x: self.x * rhs, //
|
||||
y: self.y * rhs,
|
||||
z: self.z * rhs,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl MulAssign<f32> for Vector3 {
|
||||
#[inline]
|
||||
fn mul_assign(&mut self, rhs: f32) {
|
||||
self.x *= rhs;
|
||||
self.y *= rhs;
|
||||
self.z *= rhs;
|
||||
}
|
||||
}
|
||||
|
||||
impl Div<f32> for Vector3 {
|
||||
type Output = Self;
|
||||
|
||||
#[inline]
|
||||
fn div(self, rhs: f32) -> Self::Output {
|
||||
Vector3 {
|
||||
x: self.x / rhs, //
|
||||
y: self.y / rhs,
|
||||
z: self.z / rhs,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl DivAssign<f32> for Vector3 {
|
||||
#[inline]
|
||||
fn div_assign(&mut self, rhs: f32) {
|
||||
self.x /= rhs;
|
||||
self.y /= rhs;
|
||||
self.z /= rhs;
|
||||
}
|
||||
}
|
||||
|
||||
impl NearlyEqual for Vector3 {
|
||||
type Output = Self;
|
||||
|
||||
#[inline]
|
||||
fn nearly_equal(self, other: Self::Output, epsilon: f32) -> bool {
|
||||
nearly_equal(self.x, other.x, epsilon)
|
||||
&& nearly_equal(self.y, other.y, epsilon)
|
||||
&& nearly_equal(self.z, other.z, epsilon)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use crate::math::*;
|
||||
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
pub fn test_new() {
|
||||
let v = Vector3::new(3.0, 7.0, -1.4);
|
||||
assert!(nearly_equal(v.x, 3.0, 0.0001));
|
||||
assert!(nearly_equal(v.y, 7.0, 0.0001));
|
||||
assert!(nearly_equal(v.z, -1.4, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_neg() {
|
||||
let v = Vector3 { x: 1.0, y: 2.0, z: -3.0 };
|
||||
let neg = -v;
|
||||
assert!(nearly_equal(neg.x, -1.0, 0.0001));
|
||||
assert!(nearly_equal(neg.y, -2.0, 0.0001));
|
||||
assert!(nearly_equal(neg.z, 3.0, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_add() {
|
||||
let a = Vector3 { x: 3.0, y: 4.0, z: 6.0 };
|
||||
let b = Vector3 { x: 1.0, y: 2.0, z: 5.0 };
|
||||
let c = a + b;
|
||||
assert!(nearly_equal(c.x, 4.0, 0.0001));
|
||||
assert!(nearly_equal(c.y, 6.0, 0.0001));
|
||||
assert!(nearly_equal(c.z, 11.0, 0.0001));
|
||||
|
||||
let mut a = Vector3 { x: 3.0, y: 4.0, z: 6.0 };
|
||||
let b = Vector3 { x: 1.0, y: 2.0, z: 5.0 };
|
||||
a += b;
|
||||
assert!(nearly_equal(a.x, 4.0, 0.0001));
|
||||
assert!(nearly_equal(a.y, 6.0, 0.0001));
|
||||
assert!(nearly_equal(a.z, 11.0, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_sub() {
|
||||
let a = Vector3 { x: 3.0, y: 4.0, z: 6.0 };
|
||||
let b = Vector3 { x: 1.0, y: 2.0, z: 5.0 };
|
||||
let c = a - b;
|
||||
assert!(nearly_equal(c.x, 2.0, 0.0001));
|
||||
assert!(nearly_equal(c.y, 2.0, 0.0001));
|
||||
assert!(nearly_equal(c.z, 1.0, 0.0001));
|
||||
|
||||
let mut a = Vector3 { x: 3.0, y: 4.0, z: 6.0 };
|
||||
let b = Vector3 { x: 1.0, y: 2.0, z: 5.0 };
|
||||
a -= b;
|
||||
assert!(nearly_equal(a.x, 2.0, 0.0001));
|
||||
assert!(nearly_equal(a.y, 2.0, 0.0001));
|
||||
assert!(nearly_equal(a.z, 1.0, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_mul() {
|
||||
let a = Vector3 { x: 2.5, y: 6.0, z: 3.0 };
|
||||
let b = Vector3 { x: 1.25, y: 2.0, z: 2.5 };
|
||||
let c = a * b;
|
||||
assert!(nearly_equal(c.x, 3.125, 0.0001));
|
||||
assert!(nearly_equal(c.y, 12.0, 0.0001));
|
||||
assert!(nearly_equal(c.z, 7.5, 0.0001));
|
||||
|
||||
let mut a = Vector3 { x: 2.5, y: 6.0, z: 3.0 };
|
||||
let b = Vector3 { x: 1.25, y: 2.0, z: 2.5 };
|
||||
a *= b;
|
||||
assert!(nearly_equal(a.x, 3.125, 0.0001));
|
||||
assert!(nearly_equal(a.y, 12.0, 0.0001));
|
||||
assert!(nearly_equal(a.z, 7.5, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_div() {
|
||||
let a = Vector3 { x: 2.5, y: 6.0, z: 3.0 };
|
||||
let b = Vector3 { x: 1.25, y: 2.0, z: 2.5 };
|
||||
let c = a / b;
|
||||
assert!(nearly_equal(c.x, 2.0, 0.0001));
|
||||
assert!(nearly_equal(c.y, 3.0, 0.0001));
|
||||
assert!(nearly_equal(c.z, 1.2, 0.0001));
|
||||
|
||||
let mut a = Vector3 { x: 2.5, y: 6.0, z: 3.0 };
|
||||
let b = Vector3 { x: 1.25, y: 2.0, z: 2.5 };
|
||||
a /= b;
|
||||
assert!(nearly_equal(a.x, 2.0, 0.0001));
|
||||
assert!(nearly_equal(a.y, 3.0, 0.0001));
|
||||
assert!(nearly_equal(a.z, 1.2, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_scalar_mul() {
|
||||
let a = Vector3 { x: 1.0, y: 2.0, z: -3.0 };
|
||||
let b = a * 2.0;
|
||||
assert!(nearly_equal(b.x, 2.0, 0.0001));
|
||||
assert!(nearly_equal(b.y, 4.0, 0.0001));
|
||||
assert!(nearly_equal(b.z, -6.0, 0.0001));
|
||||
|
||||
let mut a = Vector3 { x: 1.0, y: 2.0, z: -3.0 };
|
||||
a *= 2.0;
|
||||
assert!(nearly_equal(b.x, 2.0, 0.0001));
|
||||
assert!(nearly_equal(b.y, 4.0, 0.0001));
|
||||
assert!(nearly_equal(b.z, -6.0, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_scalar_div() {
|
||||
let a = Vector3 { x: 1.0, y: 2.0, z: -3.0 };
|
||||
let b = a / 2.0;
|
||||
assert!(nearly_equal(b.x, 0.5, 0.0001));
|
||||
assert!(nearly_equal(b.y, 1.0, 0.0001));
|
||||
assert!(nearly_equal(b.z, -1.5, 0.0001));
|
||||
|
||||
let mut a = Vector3 { x: 1.0, y: 2.0, z: -3.0 };
|
||||
a /= 2.0;
|
||||
assert!(nearly_equal(b.x, 0.5, 0.0001));
|
||||
assert!(nearly_equal(b.y, 1.0, 0.0001));
|
||||
assert!(nearly_equal(b.z, -1.5, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_nearly_equal() {
|
||||
let a = Vector3 { x: 3.4, y: -7.1, z: 1.8 };
|
||||
let b = Vector3 { x: 3.5, y: -7.1, z: 1.8 };
|
||||
assert!(!a.nearly_equal(b, 0.0001));
|
||||
|
||||
let a = Vector3 { x: 2.0, y: 4.0, z: 6.1 };
|
||||
let b = Vector3 { x: 2.0, y: 4.0, z: 6.1 };
|
||||
assert!(a.nearly_equal(b, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_length() {
|
||||
let v = Vector3 { x: 3.0, y: -2.0, z: 1.0 };
|
||||
let length_squared = v.length_squared();
|
||||
let length = v.length();
|
||||
assert!(nearly_equal(length_squared, 14.0, 0.0001));
|
||||
assert!(nearly_equal(length, 3.7416, 0.0001));
|
||||
|
||||
let v = Vector3 { x: 11.6, y: 0.0, z: 4.0 };
|
||||
let length_squared = v.length_squared();
|
||||
let length = v.length();
|
||||
assert!(nearly_equal(length_squared, 150.56, 0.0001));
|
||||
assert!(nearly_equal(length, 12.2702, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_dot() {
|
||||
let a = Vector3 { x: -1.0, y: 2.0, z: 3.0 };
|
||||
let b = Vector3 { x: 0.0, y: 5.0, z: 1.0 };
|
||||
let dot = a.dot(&b);
|
||||
assert!(nearly_equal(dot, 13.0, 0.0001));
|
||||
|
||||
let a = Vector3 { x: 4.0, y: 0.0, z: -3.0 };
|
||||
let b = Vector3 { x: 0.0, y: -2.0, z: 0.0 };
|
||||
let dot = a.dot(&b);
|
||||
assert!(nearly_equal(dot, 0.0, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_distance() {
|
||||
let a = Vector3 { x: 6.0, y: 2.5, z: -3.0 };
|
||||
let b = Vector3 { x: 1.1, y: -4.0, z: 5.0 };
|
||||
let distance_squared = a.distance_squared(&b);
|
||||
let distance = a.distance(&b);
|
||||
assert!(nearly_equal(distance_squared, 130.26, 0.0001));
|
||||
assert!(nearly_equal(distance, 11.4131, 0.0001));
|
||||
|
||||
let a = Vector3 { x: 7.1, y: 4.0, z: 3.0 };
|
||||
let b = Vector3 { x: 17.0, y: -6.0, z: 2.5 };
|
||||
let distance_squared = a.distance_squared(&b);
|
||||
let distance = a.distance(&b);
|
||||
assert!(nearly_equal(distance_squared, 198.26, 0.0001));
|
||||
assert!(nearly_equal(distance, 14.0804, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_normalize() {
|
||||
let v = Vector3 { x: 3.0, y: 1.0, z: 2.0 };
|
||||
let normalized = v.normalize();
|
||||
assert!(nearly_equal(normalized.x, 0.8017, 0.0001));
|
||||
assert!(nearly_equal(normalized.y, 0.2672, 0.0001));
|
||||
assert!(nearly_equal(normalized.z, 0.5345, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_extend() {
|
||||
let v = Vector3 { x: 3.0, y: -2.0, z: 1.0 };
|
||||
let extended = v.extend(7.4832);
|
||||
assert!(nearly_equal(extended.x, 6.0, 0.0001));
|
||||
assert!(nearly_equal(extended.y, -4.0, 0.0001));
|
||||
assert!(nearly_equal(extended.z, 2.0, 0.0001));
|
||||
}
|
||||
|
||||
#[test]
|
||||
pub fn test_lerp() {
|
||||
let a = Vector3 { x: 5.0, y: 1.0, z: 3.0 };
|
||||
let b = Vector3 { x: 10.0, y: 2.0, z: 6.0 };
|
||||
let c = lerp(a, b, 0.5);
|
||||
assert!(nearly_equal(c.x, 7.5, 0.0001));
|
||||
assert!(nearly_equal(c.y, 1.5, 0.0001));
|
||||
assert!(nearly_equal(c.z, 4.5, 0.0001));
|
||||
}
|
||||
}
|
||||
Loading…
Reference in a new issue