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import Constant, T, Array, PureOp, any from require "alv.base"
unpack or= table.unpack
vec3 = Array 3, T.num
vec4 = Array 4, T.num
mat4 = Array 4, vec4
identity = Constant.meta
meta:
name: 'identity'
summary: "The identity Matrix."
value: mat4\mk_const {
{ 1, 0, 0, 0 }
{ 0, 1, 0, 0 }
{ 0, 0, 1, 0 }
{ 0, 0, 0, 1 }
}
scale = Constant.meta
meta:
name: 'scale'
summary: "Create a 3d scale matrix."
examples: { "(mat4/scale scale)", "(mat4/scale x y z)" }
description: "This is a pure op.
`scale` can be a single number for uniform scaling, or an array
of three numbers that will be used like `x`, `y` and `z`."
value: class extends PureOp
pattern: any.num / (any.num\rep 3, 3) / any(vec3)
type: mat4
tick: =>
scale = @unwrap_all!
x, y, z = if "number" == type scale
scale, scale, scale
else
unpack scale
@out\set {
{ x, 0, 0, 0 }
{ 0, y, 0, 0 }
{ 0, 0, z, 0 }
{ 0, 0, 0, 1 }
}
translate = Constant.meta
meta:
name: 'translate'
summary: "Create a 3d translation matrix."
examples: { "(mat4/translate vec)", "(mat4/translate x y z)" }
description: "This is a pure op.
`vec` is a num[3] array."
value: class extends PureOp
pattern: (any.num\rep 3, 3) / any(vec3)
type: mat4
tick: =>
{ x, y, z } = @unwrap_all!
@out\set {
{ 1, 0, 0, 0 }
{ 0, 1, 0, 0 }
{ 0, 0, 1, 0 }
{ x, y, z, 1 }
}
rotate = Constant.meta
meta:
name: 'rotate'
summary: "Create a 3d rotation matrix from an axis and angle"
examples: { "(mat4/translate axis angle)" }
description: "This is a pure op.
`axis` is a num[3] array representing a unit vector."
value: class extends PureOp
pattern: any(vec3) + any.num
type: mat4
tick: =>
{ { l, m, n }, a } = @unwrap_all!
len = math.sqrt l*l + m*m + n*n
l, m, n = l/len, m/len, n/len
ca, sa = (math.cos a), math.sin a
na = 1 - ca
@out\set {
{
l * l * na + ca
l * m * na + n * sa
l * n * na - m * sa
0
}
{
m * l * na - n * sa
m * m * na + ca
m * n * na + l * sa
0
}
{
n * l * na + m * sa
n * m * na - l * sa
n * n * na + ca
0
}
{ 0, 0, 0, 1 }
}
ypr = Constant.meta
meta:
name: 'yaw-pitch-roll'
summary: "Create a 3d rotation matrix from euler angles."
examples: { "(yaw-pitch-roll vec3)", "(yaw-pitch-roll y p r)" }
description: "This is a pure op."
value: class extends PureOp
pattern: (any.num\rep 3, 3) / any(vec3)
type: mat4
tick: =>
{ yaw, pitch, roll } = @unwrap_all!
ch, sh = math.cos(yaw), math.sin yaw
cp, sp = math.cos(pitch), math.sin pitch
cb, sb = math.cos(roll), math.sin roll
@out\set {
{
ch * cb + sh * sp * sb
sb * cp
ch * sp * sb - sh * cb
0
}
{
sh * sp * cb - ch * sb
cb * cp
sb * sh + ch * sp * cb
0
}
{ sh * cp, -sp, ch * cp, 0 }
{ 0, 0, 0, 1 }
}
Constant.meta
meta:
name: 'mat4'
summary: "Operators for generating 4x4 Matrices."
value:
:identity
:scale
:translate
:rotate
'yaw-pitch-roll': ypr
'*': mul
|
