commit cb7a3adacf5c84e6d9d0ec74c94c186a3d5e39c5
parent 31aae7f3152bc8c152f23c2dfaee8376cd3a1e11
Author: William Casarin <jb55@jb55.com>
Date: Wed, 26 Mar 2025 06:45:30 -0700
dave: move quaternion to its own file
Diffstat:
3 files changed, 88 insertions(+), 83 deletions(-)
diff --git a/crates/notedeck_dave/src/avatar.rs b/crates/notedeck_dave/src/avatar.rs
@@ -1,6 +1,6 @@
use std::num::NonZeroU64;
-use crate::vec3::Vec3;
+use crate::{Vec3, Quaternion};
use eframe::egui_wgpu::{self, wgpu};
use egui::{Rect, Response};
use rand::Rng;
@@ -10,88 +10,6 @@ pub struct DaveAvatar {
rot_dir: Vec3,
}
-// A simple quaternion implementation
-struct Quaternion {
- x: f32,
- y: f32,
- z: f32,
- w: f32,
-}
-
-impl Quaternion {
- // Create identity quaternion
- fn identity() -> Self {
- Self {
- x: 0.0,
- y: 0.0,
- z: 0.0,
- w: 1.0,
- }
- }
-
- // Create from axis-angle representation
- fn from_axis_angle(axis: &Vec3, angle: f32) -> Self {
- let half_angle = angle * 0.5;
- let s = half_angle.sin();
- Self {
- x: axis.x * s,
- y: axis.y * s,
- z: axis.z * s,
- w: half_angle.cos(),
- }
- }
-
- // Multiply two quaternions (combines rotations)
- fn multiply(&self, other: &Self) -> Self {
- Self {
- x: self.w * other.x + self.x * other.w + self.y * other.z - self.z * other.y,
- y: self.w * other.y - self.x * other.z + self.y * other.w + self.z * other.x,
- z: self.w * other.z + self.x * other.y - self.y * other.x + self.z * other.w,
- w: self.w * other.w - self.x * other.x - self.y * other.y - self.z * other.z,
- }
- }
-
- // Convert quaternion to 4x4 matrix (for 3D transformation with homogeneous coordinates)
- fn to_matrix4(&self) -> [f32; 16] {
- // Normalize quaternion
- let magnitude =
- (self.x * self.x + self.y * self.y + self.z * self.z + self.w * self.w).sqrt();
- let x = self.x / magnitude;
- let y = self.y / magnitude;
- let z = self.z / magnitude;
- let w = self.w / magnitude;
-
- let x2 = x * x;
- let y2 = y * y;
- let z2 = z * z;
- let xy = x * y;
- let xz = x * z;
- let yz = y * z;
- let wx = w * x;
- let wy = w * y;
- let wz = w * z;
-
- // Row-major 3x3 rotation matrix components
- let m00 = 1.0 - 2.0 * (y2 + z2);
- let m01 = 2.0 * (xy - wz);
- let m02 = 2.0 * (xz + wy);
-
- let m10 = 2.0 * (xy + wz);
- let m11 = 1.0 - 2.0 * (x2 + z2);
- let m12 = 2.0 * (yz - wx);
-
- let m20 = 2.0 * (xz - wy);
- let m21 = 2.0 * (yz + wx);
- let m22 = 1.0 - 2.0 * (x2 + y2);
-
- // Convert 3x3 rotation matrix to 4x4 transformation matrix
- // Note: This is column-major for WGPU
- [
- m00, m10, m20, 0.0, m01, m11, m21, 0.0, m02, m12, m22, 0.0, 0.0, 0.0, 0.0, 1.0,
- ]
- }
-}
-
// Matrix utilities for perspective projection
fn perspective_matrix(fovy_radians: f32, aspect: f32, near: f32, far: f32) -> [f32; 16] {
let f = 1.0 / (fovy_radians / 2.0).tan();
diff --git a/crates/notedeck_dave/src/lib.rs b/crates/notedeck_dave/src/lib.rs
@@ -25,8 +25,12 @@ use avatar::DaveAvatar;
use egui::{Rect, Vec2};
use egui_wgpu::RenderState;
+pub use vec3::Vec3;
+pub use quaternion::Quaternion;
+
mod avatar;
mod vec3;
+mod quaternion;
#[derive(Debug, Clone)]
pub enum Message {
diff --git a/crates/notedeck_dave/src/quaternion.rs b/crates/notedeck_dave/src/quaternion.rs
@@ -0,0 +1,83 @@
+use crate::Vec3;
+
+// A simple quaternion implementation
+pub struct Quaternion {
+ pub x: f32,
+ pub y: f32,
+ pub z: f32,
+ pub w: f32,
+}
+
+impl Quaternion {
+ // Create identity quaternion
+ pub fn identity() -> Self {
+ Self {
+ x: 0.0,
+ y: 0.0,
+ z: 0.0,
+ w: 1.0,
+ }
+ }
+
+ // Create from axis-angle representation
+ pub fn from_axis_angle(axis: &Vec3, angle: f32) -> Self {
+ let half_angle = angle * 0.5;
+ let s = half_angle.sin();
+ Self {
+ x: axis.x * s,
+ y: axis.y * s,
+ z: axis.z * s,
+ w: half_angle.cos(),
+ }
+ }
+
+ // Multiply two quaternions (combines rotations)
+ pub fn multiply(&self, other: &Self) -> Self {
+ Self {
+ x: self.w * other.x + self.x * other.w + self.y * other.z - self.z * other.y,
+ y: self.w * other.y - self.x * other.z + self.y * other.w + self.z * other.x,
+ z: self.w * other.z + self.x * other.y - self.y * other.x + self.z * other.w,
+ w: self.w * other.w - self.x * other.x - self.y * other.y - self.z * other.z,
+ }
+ }
+
+ // Convert quaternion to 4x4 matrix (for 3D transformation with homogeneous coordinates)
+ pub fn to_matrix4(&self) -> [f32; 16] {
+ // Normalize quaternion
+ let magnitude =
+ (self.x * self.x + self.y * self.y + self.z * self.z + self.w * self.w).sqrt();
+ let x = self.x / magnitude;
+ let y = self.y / magnitude;
+ let z = self.z / magnitude;
+ let w = self.w / magnitude;
+
+ let x2 = x * x;
+ let y2 = y * y;
+ let z2 = z * z;
+ let xy = x * y;
+ let xz = x * z;
+ let yz = y * z;
+ let wx = w * x;
+ let wy = w * y;
+ let wz = w * z;
+
+ // Row-major 3x3 rotation matrix components
+ let m00 = 1.0 - 2.0 * (y2 + z2);
+ let m01 = 2.0 * (xy - wz);
+ let m02 = 2.0 * (xz + wy);
+
+ let m10 = 2.0 * (xy + wz);
+ let m11 = 1.0 - 2.0 * (x2 + z2);
+ let m12 = 2.0 * (yz - wx);
+
+ let m20 = 2.0 * (xz - wy);
+ let m21 = 2.0 * (yz + wx);
+ let m22 = 1.0 - 2.0 * (x2 + y2);
+
+ // Convert 3x3 rotation matrix to 4x4 transformation matrix
+ // Note: This is column-major for WGPU
+ [
+ m00, m10, m20, 0.0, m01, m11, m21, 0.0, m02, m12, m22, 0.0, 0.0, 0.0, 0.0, 1.0,
+ ]
+ }
+}
