211 lines
14 KiB
Rust
211 lines
14 KiB
Rust
/*! # nalgebra-glm − nalgebra in _easy mode_
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**nalgebra-glm** is a GLM-like interface for the **nalgebra** general-purpose linear algebra library.
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[GLM](https://glm.g-truc.net) itself is a popular C++ linear algebra library essentially targeting computer graphics. Therefore
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**nalgebra-glm** draws inspiration from GLM to define a nice and easy-to-use API for simple graphics application.
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All the types of **nalgebra-glm** are aliases of types from **nalgebra**. Therefore there is a complete and
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seamless inter-operability between both.
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## Getting started
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First of all, you should start by taking a look at the official [GLM API documentation](https://glm.g-truc.net/0.9.9/api/index.html)
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since **nalgebra-glm** implements a large subset of it. To use **nalgebra-glm** to your project, you
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should add it as a dependency to your `Crates.toml`:
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```toml
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[dependencies]
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nalgebra-glm = "0.3"
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```
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Then, you should add an `extern crate` statement to your `lib.rs` or `main.rs` file. It is **strongly
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recommended** to add a crate alias to `glm` as well so that you will be able to call functions of
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**nalgebra-glm** using the module prefix `glm::`. For example you will write `glm::rotate(...)` instead
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of the more verbose `nalgebra_glm::rotate(...)`:
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```rust
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extern crate nalgebra_glm as glm;
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```
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## Features overview
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**nalgebra-glm** supports most linear-algebra related features of the C++ GLM library. Mathematically
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speaking, it supports all the common transformations like rotations, translations, scaling, shearing,
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and projections but operating in homogeneous coordinates. This means all the 2D transformations are
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expressed as 3x3 matrices, and all the 3D transformations as 4x4 matrices. This is less computationally-efficient
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and memory-efficient than nalgebra's [transformation types](https://www.nalgebra.org/points_and_transformations/#transformations),
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but this has the benefit of being simpler to use.
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### Main differences compared to GLM
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While **nalgebra-glm** follows the feature line of the C++ GLM library, quite a few differences
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remain and they are mostly syntactic. The main ones are:
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* All function names use `snake_case`, which is the Rust convention.
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* All type names use `CamelCase`, which is the Rust convention.
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* All function arguments, except for scalars, are all passed by-reference.
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* The most generic vector and matrix types are [`TMat`](type.TMat.html) and [`TVec`](type.TVec.html) instead of `mat` and `vec`.
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* Some feature are not yet implemented and should be added in the future. In particular, no packing
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functions are available.
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* A few features are not implemented and will never be. This includes functions related to color
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spaces, and closest points computations. Other crates should be used for those. For example, closest
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points computation can be handled by the [ncollide](https://ncollide.org) project.
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In addition, because Rust does not allows function overloading, all functions must be given a unique name.
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Here are a few rules chosen arbitrarily for **nalgebra-glm**:
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* Functions operating in 2d will usually end with the `2d` suffix, e.g., [`glm::rotate2d`](fn.rotate2d.html) is for 2D while [`glm::rotate`](fn.rotate.html) is for 3D.
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* Functions operating on vectors will often end with the `_vec` suffix, possibly followed by the dimension of vector, e.g., [`glm::rotate_vec2`](fn.rotate_vec2.html).
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* Every function related to quaternions start with the `quat_` prefix, e.g., [`glm::quat_dot(q1, q2)`](fn.quat_dot.html).
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* All the conversion functions have unique names as described [below](#conversions).
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### Vector and matrix construction
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Vectors, matrices, and quaternions can be constructed using several approaches:
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* Using functions with the same name as their type in lower-case. For example [`glm::vec3(x, y, z)`](fn.vec3.html) will create a 3D vector.
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* Using the `::new` constructor. For example [`Vec3::new(x, y, z)`](../nalgebra/base/type.OMatrix.html#method.new-27) will create a 3D vector.
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* Using the functions prefixed by `make_` to build a vector a matrix from a slice. For example [`glm::make_vec3(&[x, y, z])`](fn.make_vec3.html) will create a 3D vector.
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Keep in mind that constructing a matrix using this type of functions require its components to be arranged in column-major order on the slice.
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* Using a geometric construction function. For example [`glm::rotation(angle, axis)`](fn.rotation.html) will build a 4x4 homogeneous rotation matrix from an angle (in radians) and an axis.
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* Using swizzling and conversions as described in the next sections.
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### Swizzling
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Vector swizzling is a native feature of **nalgebra** itself. Therefore, you can use it with all
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the vectors of **nalgebra-glm** as well. Swizzling is supported as methods and works only up to
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dimension 3, i.e., you can only refer to the components `x`, `y` and `z` and can only create a
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2D or 3D vector using this technique. Here is some examples, assuming `v` is a vector with float
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components here:
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* `v.xx()` is equivalent to `glm::vec2(v.x, v.x)` and to `Vec2::new(v.x, v.x)`.
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* `v.zx()` is equivalent to `glm::vec2(v.z, v.x)` and to `Vec2::new(v.z, v.x)`.
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* `v.yxz()` is equivalent to `glm::vec3(v.y, v.x, v.z)` and to `Vec3::new(v.y, v.x, v.z)`.
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* `v.zzy()` is equivalent to `glm::vec3(v.z, v.z, v.y)` and to `Vec3::new(v.z, v.z, v.y)`.
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Any combination of two or three components picked among `x`, `y`, and `z` will work.
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### Conversions
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It is often useful to convert one algebraic type to another. There are two main approaches for converting
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between types in `nalgebra-glm`:
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* Using function with the form `type1_to_type2` in order to convert an instance of `type1` into an instance of `type2`.
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For example [`glm::mat3_to_mat4(m)`](fn.mat3_to_mat4.html) will convert the 3x3 matrix `m` to a 4x4 matrix by appending one column on the right
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and one row on the left. Those now row and columns are filled with 0 except for the diagonal element which is set to 1.
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* Using one of the [`convert`](fn.convert.html), [`try_convert`](fn.try_convert.html), or [`convert_unchecked`](fn.convert_unchecked.html) functions.
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These functions are directly re-exported from nalgebra and are extremely versatile:
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1. The `convert` function can convert any type (especially geometric types from nalgebra like `Isometry3`) into another algebraic type which is equivalent but more general. For example,
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`let sim: Similarity3<_> = na::convert(isometry)` will convert an `Isometry3` into a `Similarity3`.
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In addition, `let mat: Mat4 = glm::convert(isometry)` will convert an `Isometry3` to a 4x4 matrix. This will also convert the scalar types,
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therefore: `let mat: DMat4 = glm::convert(m)` where `m: Mat4` will work. However, conversion will not work the other way round: you
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can't convert a `Matrix4` to an `Isometry3` using `glm::convert` because that could cause unexpected results if the matrix does
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not complies to the requirements of the isometry.
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2. If you need this kind of conversions anyway, you can use `try_convert` which will test if the object being converted complies with the algebraic requirements of the target type.
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This will return `None` if the requirements are not satisfied.
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3. The `convert_unchecked` will ignore those tests and always perform the conversion, even if that breaks the invariants of the target type.
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This must be used with care! This is actually the recommended method to convert between homogeneous transformations generated by `nalgebra-glm` and
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specific transformation types from **nalgebra** like `Isometry3`. Just be careful you know your conversions make sense.
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### Should I use nalgebra or nalgebra-glm?
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Well that depends on your tastes and your background. **nalgebra** is more powerful overall since it allows stronger typing,
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and goes much further than simple computer graphics math. However, has a bit of a learning curve for
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those not used to the abstract mathematical concepts for transformations. **nalgebra-glm** however
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have more straightforward functions and benefit from the various tutorials existing on the internet
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for the original C++ GLM library.
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Overall, if you are already used to the C++ GLM library, or to working with homogeneous coordinates (like 4D
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matrices for 3D transformations), then you will have more success with **nalgebra-glm**. If on the other
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hand you prefer more rigorous treatments of transformations, with type-level restrictions, then go for **nalgebra**.
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If you need dynamically-sized matrices, you should go for **nalgebra** as well.
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Keep in mind that **nalgebra-glm** is just a different API for **nalgebra**. So you can very well use both
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and benefit from both their advantages: use **nalgebra-glm** when mathematical rigor is not that important,
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and **nalgebra** itself when you need more expressive types, and more powerful linear algebra operations like
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matrix factorizations and slicing. Just remember that all the **nalgebra-glm** types are just aliases to **nalgebra** types,
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and keep in mind it is possible to convert, e.g., an `Isometry3` to a `Mat4` and vice-versa (see the [conversions section](#conversions)).
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*/
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#![doc(html_favicon_url = "https://nalgebra.org/img/favicon.ico")]
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#![cfg_attr(not(feature = "std"), no_std)]
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extern crate num_traits as num;
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#[macro_use]
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extern crate approx;
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extern crate nalgebra as na;
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pub use crate::aliases::*;
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pub use crate::traits::Number;
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pub use common::{
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abs, ceil, clamp, clamp_scalar, clamp_vec, float_bits_to_int, float_bits_to_int_vec,
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float_bits_to_uint, float_bits_to_uint_vec, floor, fract, int_bits_to_float,
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int_bits_to_float_vec, lerp, lerp_scalar, lerp_vec, mix, mix_scalar, mix_vec, modf, modf_vec,
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round, sign, smoothstep, step, step_scalar, step_vec, trunc, uint_bits_to_float,
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uint_bits_to_float_scalar,
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};
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pub use constructors::*;
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pub use exponential::{exp, exp2, inversesqrt, log, log2, pow, sqrt};
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pub use geometric::{
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cross, distance, dot, faceforward, length, magnitude, normalize, reflect_vec, refract_vec,
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};
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pub use matrix::{determinant, inverse, matrix_comp_mult, outer_product, transpose};
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pub use trigonometric::{
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acos, acosh, asin, asinh, atan, atan2, atanh, cos, cosh, degrees, radians, sin, sinh, tan, tanh,
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};
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pub use vector_relational::{
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all, any, equal, greater_than, greater_than_equal, less_than, less_than_equal, not, not_equal,
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};
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pub use ext::{
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epsilon, equal_columns, equal_columns_eps, equal_columns_eps_vec, equal_eps, equal_eps_vec,
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identity, infinite_perspective_rh_no, infinite_perspective_rh_zo, look_at, look_at_lh,
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look_at_rh, max, max2, max2_scalar, max3, max3_scalar, max4, max4_scalar, min, min2,
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min2_scalar, min3, min3_scalar, min4, min4_scalar, not_equal_columns, not_equal_columns_eps,
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not_equal_columns_eps_vec, not_equal_eps, not_equal_eps_vec, ortho, ortho_lh, ortho_lh_no,
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ortho_lh_zo, ortho_no, ortho_rh, ortho_rh_no, ortho_rh_zo, ortho_zo, perspective,
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perspective_fov, perspective_fov_lh, perspective_fov_lh_no, perspective_fov_lh_zo,
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perspective_fov_no, perspective_fov_rh, perspective_fov_rh_no, perspective_fov_rh_zo,
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perspective_fov_zo, perspective_lh, perspective_lh_no, perspective_lh_zo, perspective_no,
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perspective_rh, perspective_rh_no, perspective_rh_zo, perspective_zo, pi, pick_matrix, project,
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project_no, project_zo, quat_angle, quat_angle_axis, quat_axis, quat_conjugate, quat_cross,
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quat_dot, quat_equal, quat_equal_eps, quat_exp, quat_inverse, quat_length, quat_lerp, quat_log,
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quat_magnitude, quat_normalize, quat_not_equal, quat_not_equal_eps, quat_pow, quat_rotate,
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quat_slerp, reversed_infinite_perspective_rh_zo, reversed_perspective_rh_zo, rotate, rotate_x,
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rotate_y, rotate_z, scale, translate, unproject, unproject_no, unproject_zo,
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};
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pub use gtc::{
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affine_inverse, column, e, euler, four_over_pi, golden_ratio, half_pi, inverse_transpose,
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ln_ln_two, ln_ten, ln_two, make_mat2, make_mat2x2, make_mat2x3, make_mat2x4, make_mat3,
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make_mat3x2, make_mat3x3, make_mat3x4, make_mat4, make_mat4x2, make_mat4x3, make_mat4x4,
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make_quat, make_vec1, make_vec2, make_vec3, make_vec4, mat2_to_mat3, mat2_to_mat4,
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mat3_to_mat2, mat3_to_mat4, mat4_to_mat2, mat4_to_mat3, one, one_over_pi, one_over_root_two,
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one_over_two_pi, quarter_pi, quat_cast, quat_euler_angles, quat_greater_than,
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quat_greater_than_equal, quat_less_than, quat_less_than_equal, quat_look_at, quat_look_at_lh,
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quat_look_at_rh, quat_pitch, quat_roll, quat_yaw, root_five, root_half_pi, root_ln_four,
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root_pi, root_three, root_two, root_two_pi, row, set_column, set_row, third, three_over_two_pi,
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two_over_pi, two_over_root_pi, two_pi, two_thirds, value_ptr, value_ptr_mut, vec1_to_vec2,
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vec1_to_vec3, vec1_to_vec4, vec2_to_vec1, vec2_to_vec2, vec2_to_vec3, vec2_to_vec4,
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vec3_to_vec1, vec3_to_vec2, vec3_to_vec3, vec3_to_vec4, vec4_to_vec1, vec4_to_vec2,
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vec4_to_vec3, vec4_to_vec4, zero,
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};
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pub use gtx::{
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angle, are_collinear, are_collinear2d, are_orthogonal, comp_add, comp_max, comp_min, comp_mul,
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cross2d, diagonal2x2, diagonal2x3, diagonal2x4, diagonal3x2, diagonal3x3, diagonal3x4,
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diagonal4x2, diagonal4x3, diagonal4x4, distance2, fast_normalize_dot, is_comp_null,
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is_normalized, is_null, l1_distance, l1_norm, l2_distance, l2_norm, left_handed, length2,
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magnitude2, mat3_to_quat, matrix_cross, matrix_cross3, normalize_dot, orientation, proj,
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proj2d, quat_cross_vec, quat_extract_real_component, quat_fast_mix, quat_identity,
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quat_inv_cross_vec, quat_length2, quat_magnitude2, quat_rotate_normalized_axis,
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quat_rotate_vec, quat_rotate_vec3, quat_rotation, quat_short_mix, quat_to_mat3, quat_to_mat4,
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reflect, reflect2d, right_handed, rotate2d, rotate_normalized_axis, rotate_vec2, rotate_vec3,
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rotate_vec4, rotate_x_vec3, rotate_x_vec4, rotate_y_vec3, rotate_y_vec4, rotate_z_vec3,
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rotate_z_vec4, rotation, rotation2d, scale2d, scale_bias, scale_bias_matrix, scaling,
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scaling2d, shear2d_x, shear2d_y, shear_x, shear_y, shear_z, slerp, to_quat, translate2d,
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translation, translation2d, triangle_normal,
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};
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pub use na::{
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convert, convert_ref, convert_ref_unchecked, convert_unchecked, try_convert, try_convert_ref,
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};
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pub use na::{DefaultAllocator, RealField, Scalar, U1, U2, U3, U4};
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mod aliases;
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mod common;
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mod constructors;
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mod exponential;
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mod geometric;
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mod matrix;
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mod traits;
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mod trigonometric;
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mod vector_relational;
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//mod integer;
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//mod packing;
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mod ext;
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mod gtc;
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mod gtx;
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