model-converter/src/camera.rs

//! This module contains everything to deal with cameras.

use nalgebra::Matrix4;
use nalgebra::Vector4;

use math::vector::{Vector2, Vector3};
use math::frustum::Frustum;

/// Converts a Matrix4<f64> into a Matrix4<f32>
pub fn mat_to_f32(mat: Matrix4<f64>) -> Matrix4<f32> {
    mat.map(|x| x as f32)
}

/// The trait that a render camera should implement.
///
/// It allows the renderer to use it.
pub trait RenderCamera {

    /// Returns the view matrix of the camera.
    fn view(&self) -> Matrix4<f64>;

    /// Returns the perspective matrix of the camera.
    fn perspective(&self) -> Matrix4<f64>;

    /// Returns the product of the perspective matrix and the view matrix.
    fn model_view(&self) -> Matrix4<f64> {
        self.perspective() * self.view()
    }

    /// Returns the frustum of the camera.
    fn frustum(&self) -> Frustum {
        panic!();
    }

}

/// Creates the pose matrix, inverse of the look at matrix.
pub fn pose(position: Vector3<f64>, target: Vector3<f64>, up: Vector3<f64>) -> Matrix4<f64> {
    // This is the right way to do things
    let e3 = (position - target).normalized();

    // Well, ok, maybe this is not the right way, but it works
    let e1 = up.cross_product(e3).normalized();
    let e2 = e3.cross_product(e1);

    [
        [e1[0], e1[1], e1[2], 0.0],
        [e2[0], e2[1], e2[2], 0.0],
        [e3[0], e3[1], e3[2], 0.0],
        [position[0], position[1], position[2], 1.0],
    ].into()
}

/// Creates a look at matrix from the center, the target pointed by the camera and the up vector.
pub fn look_at(position: Vector3<f64>, target: Vector3<f64>, up: Vector3<f64>) -> Matrix4<f64> {
    pose(position, target, up).try_inverse().unwrap()
}

/// Creates a perspective matrix of a camera.
pub fn perspective(fov: f64, aspect_ratio: f64, z_near: f64, z_far: f64) -> Matrix4<f64> {

    let top = z_near * (fov / 2.0).tan();
    let height = 2.0 * top;
    let width = aspect_ratio * height;

    let x =  2.0 * z_near / width;
    let y =  2.0 * z_near / height;

    let c = - (z_far + z_near) / (z_far - z_near);
    let d = - 2.0 * z_far * z_near / (z_far - z_near);

    Matrix4::new(
          x, 0.0,   0.0,  0.0,
        0.0,   y,   0.0,  0.0,
        0.0, 0.0,     c,    d,
        0.0, 0.0,  -1.0,  0.0,
    )

}

/// Returns the inverse of the perspective matrix.
pub fn perspective_inverse(fov: f64, aspect_ratio: f64, z_near: f64, z_far: f64) -> Matrix4<f64> {

    let top = z_near * (fov / 2.0).tan();
    let height = 2.0 * top;
    let width = aspect_ratio * height;

    let x =  2.0 * z_near / width;
    let y =  2.0 * z_near / height;

    let c = - (z_far + z_near) / (z_far - z_near);
    let d = - 2.0 * z_far * z_near / (z_far - z_near);

    Matrix4::new(
        1.0 / x,      0.0,      0.0,    0.0,
            0.0,  1.0 / y,      0.0,    0.0,
            0.0,      0.0,      0.0,   -1.0,
            0.0,      0.0,  1.0 / d,  c / d,
    )

}

/// A simple camera with its position, target and up vector.
#[derive(Clone, Debug)]
pub struct Camera {
    /// The position of the center of the camera.
    pub position: Vector3<f64>,

    /// The 3D point the camera is targetting.
    pub target: Vector3<f64>,

    /// The up vector of the camera.
    pub up: Vector3<f64>,

    /// The field of view of the camera.
    pub fov: f64,

    /// The minimum depth for visible things.
    pub z_near: f64,

    /// The maximum depth for visible things.
    pub z_far: f64,

    /// The aspect ratio of the camera.
    pub aspect_ratio: f64,

}

impl Camera {
    /// Creates a new camera from its attributes.
    pub fn new(position: Vector3<f64>, target: Vector3<f64>, up: Vector3<f64>) -> Camera {
        use std::f64::consts::PI;

        Camera {
            position: position,
            target: target,
            up: up,
            z_near: 0.0001,
            z_far: 1000.0,
            aspect_ratio: 16.0 / 9.0,
            fov: PI / 3.0,
        }
    }

    /// Returns the pose matrix of the camera.
    pub fn pose(&self) -> Matrix4<f64> {
        pose(self.position, self.target, self.up)
    }

    /// Returns the view matrix of the camera, inverse of the pose.
    pub fn view(&self) -> Matrix4<f64> {
        look_at(self.position, self.target, self.up)
    }

    /// Returns the perspective matrix of the camera.
    pub fn perspective(&self) -> Matrix4<f64> {
        perspective(self.fov, self.aspect_ratio, self.z_near, self.z_far)
    }

    /// Returns the inverse of the perspective matrix of the camera.
    pub fn perspective_inverse(&self) -> Matrix4<f64> {
        perspective_inverse(self.fov, self.aspect_ratio, self.z_near, self.z_far)
    }

    /// Returns the frustum of the camera.
    pub fn frustum(&self) -> Frustum {
        Frustum::from_matrix(&(self.perspective() * self.view()))
    }

    /// Unprojects a 2D point (x, y) in the 3D world.
    ///
    /// The coordinates must be in [-1.0, 1.0]
    pub fn unproject(&self, point: Vector2<f64>) -> Vector3<f64> {

        let point = Vector4::new(point[0], point[1], 0.5, 1.0);
        let v = self.pose() * self.perspective_inverse() * point;
        Vector3::new(v[0] / v[3], v[1] / v[3], v[2] / v[3])
    }
}

impl RenderCamera for Camera {
    fn view(&self) -> Matrix4<f64> {
        self.view()
    }

    fn perspective(&self) -> Matrix4<f64> {
        self.perspective()
    }
}