From 675d9f837d1753d40f7f259c9b3f93d1629ad4b5 Mon Sep 17 00:00:00 2001
From: numzero <numzer0@yandex.ru>
Date: Sun, 21 Apr 2024 20:17:58 +0300
Subject: [PATCH] Extract yaw-pitch-roll processing into a function

---
 src/main.rs | 34 ++++++++++++++++++----------------
 1 file changed, 18 insertions(+), 16 deletions(-)

diff --git a/src/main.rs b/src/main.rs
index 2ed15ce..eb0ab86 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -38,6 +38,23 @@ impl Image {
 	}
 }
 
+fn ypr_to_mat(ypr: Vec3) -> Mat3 {
+	let Vec3 { x: yaw, y: pitch, z: roll } = ypr;
+	let m_roll = mat3(
+		roll.cos(), roll.sin(), 0.0,
+		-roll.sin(), roll.cos(), 0.0,
+		0.0, 0.0, 1.0);
+	let m_yaw = mat3(
+		yaw.cos(), 0.0, yaw.sin(),
+		0.0, 1.0, 0.0,
+		-yaw.sin(), 0.0, yaw.cos());
+	let m_pitch = mat3(
+		1.0, 0.0, 0.0,
+		0.0, pitch.cos(), -pitch.sin(),
+		0.0, pitch.sin(), pitch.cos());
+	m_roll * m_pitch * m_yaw
+}
+
 fn main() -> io::Result<()> {
 	let args: Vec<String> = env::args().collect();
 	let mesh = {
@@ -50,22 +67,7 @@ fn main() -> io::Result<()> {
 		h: H,
 		data: vec![0; (3 * W * H) as usize],
 	};
-	let yaw = PI / 4.0;
-	let pitch = PI / 6.0;
-	let roll = 0.0f32;
-	let m_roll = mat3(
-		roll.cos(), roll.sin(), 0.0,
-		-roll.sin(), roll.cos(), 0.0,
-		0.0, 0.0, 1.0);
-	let m_yaw = mat3(
-		-yaw.cos(), 0.0, yaw.sin(),
-		0.0, 1.0, 0.0,
-		-yaw.sin(), 0.0, -yaw.cos());
-	let m_pitch = mat3(
-		1.0, 0.0, 0.0,
-		0.0, pitch.cos(), pitch.sin(),
-		0.0, -pitch.sin(), pitch.cos());
-	let m_view = m_roll * m_pitch * m_yaw;
+	let m_view = ypr_to_mat(vec3(135.0 * PI / 180.0, -30.0 * PI / 180.0, 0.0f32));
 	let m_camera = transpose(&m_view);
 	let img_size = vec2(W as f32, H as f32);
 	for y in 0..H {