prepare for camera

Cargo.lock

@@ -67,6 +67,15 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "approx"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "arrayref"
 version = "0.3.9"
@@ -481,6 +490,7 @@ version = "0.30.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bd47b05dddf0005d850e5644cae7f2b14ac3df487979dbfff3b56f20b1a6ae46"
 dependencies = [
+ "approx",
  "bytemuck",
 ]
 
@@ -1144,6 +1154,7 @@ checksum = "9b4f627cb1b25917193a259e49bdad08f671f8d9708acfd5fe0a8c1455d87220"
 name = "photon-light"
 version = "0.1.0"
 dependencies = [
+ "approx",
  "bytemuck",
  "glam",
  "pollster",

Cargo.toml

@@ -14,10 +14,13 @@ opt-level = 3
 
 [dependencies]
 bytemuck = "1.24.0"
-glam = { version = "0.30.9", features = ["bytemuck"] }
+glam = { version = "0.30.9", features = ["bytemuck", "approx"] }
 pollster = "0.4.0"
 rand = "0.9.2"
 rand_distr = "0.5.1"
 rand_pcg = "0.9.0"
 wgpu = "27.0.1"
 winit = "0.30.12"
+
+[dev-dependencies]
+approx = "0.5.1"

src/camera.rs

@@ -0,0 +1,40 @@
+use glam::{Mat3, Vec3};
+
+pub fn ypr_to_mat(ypr: Vec3) -> Mat3 {
+	glam::Mat3::from_euler(glam::EulerRot::ZXZEx, ypr.x, ypr.y, ypr.z)
+}
+
+#[cfg(test)]
+mod tests {
+	use std::f32::consts::PI;
+
+	use approx::assert_ulps_eq;
+	use glam::vec3;
+
+	use super::*;
+
+	#[test]
+	fn test_ypr_to_mat() {
+		assert_ulps_eq!(ypr_to_mat(vec3(0., 0., 0.)), Mat3::IDENTITY, max_ulps = 3);
+		assert_ulps_eq!(
+			ypr_to_mat(vec3(PI / 2., 0., 0.)),
+			Mat3::from_cols_array_2d(&[[0., 1., 0.], [-1., 0., 0.], [0., 0., 1.]]),
+			max_ulps = 3,
+		);
+		assert_ulps_eq!(
+			ypr_to_mat(vec3(0., 0., PI / 2.)),
+			Mat3::from_cols_array_2d(&[[0., 1., 0.], [-1., 0., 0.], [0., 0., 1.]]),
+			max_ulps = 3,
+		);
+		assert_ulps_eq!(
+			ypr_to_mat(vec3(0., PI / 2., 0.)),
+			Mat3::from_cols_array_2d(&[[1., 0., 0.], [0., 0., 1.], [0., -1., 0.]]),
+			max_ulps = 3,
+		);
+		assert_ulps_eq!(
+			ypr_to_mat(vec3(PI / 2., PI / 2., 0.)),
+			Mat3::from_cols_array_2d(&[[0., 0., 1.], [-1., 0., 0.], [0., -1., 0.]]),
+			max_ulps = 3,
+		);
+	}
+}

src/main.rs

@@ -10,6 +10,7 @@ use winit::{
 
 use crate::render::lines::{LookParams, Mesh, Pipeline, Vertex};
 
+mod camera;
 mod render;
 
 const TITLE: &str = "WGPU example";