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Extract yaw-pitch-roll processing into a function

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This commit is contained in:
numzero 2024-04-21 20:17:58 +03:00
parent 5d36770a2e
commit 675d9f837d
1 changed files with 18 additions and 16 deletions
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34
src/main.rs
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@ -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<()> { fn main() -> io::Result<()> {
let args: Vec<String> = env::args().collect(); let args: Vec<String> = env::args().collect();
let mesh = { let mesh = {
@ -50,22 +67,7 @@ fn main() -> io::Result<()> {
h: H, h: H,
data: vec![0; (3 * W * H) as usize], data: vec![0; (3 * W * H) as usize],
}; };
let yaw = PI / 4.0; let m_view = ypr_to_mat(vec3(135.0 * PI / 180.0, -30.0 * PI / 180.0, 0.0f32));
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_camera = transpose(&m_view); let m_camera = transpose(&m_view);
let img_size = vec2(W as f32, H as f32); let img_size = vec2(W as f32, H as f32);
for y in 0..H { for y in 0..H {