1#![cfg_attr(feature = "rkyv-serialize", allow(unsafe_op_in_unsafe_fn))]
3
4#[cfg(feature = "arbitrary")]
5use quickcheck::{Arbitrary, Gen};
6
7#[cfg(feature = "rand-no-std")]
8use rand::{
9 Rng,
10 distr::{Distribution, StandardUniform},
11};
12
13#[cfg(feature = "serde-serialize-no-std")]
14use serde::{Deserialize, Deserializer, Serialize, Serializer};
15use std::fmt;
16
17use simba::scalar::RealField;
18
19use crate::base::dimension::U3;
20use crate::base::storage::Storage;
21use crate::base::{Matrix4, Vector, Vector3};
22
23use crate::geometry::{Point3, Projective3};
24
25#[cfg(feature = "rkyv-serialize")]
26use rkyv::bytecheck;
27
28#[repr(C)]
30#[cfg_attr(
31 feature = "rkyv-serialize-no-std",
32 derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
33 archive(
34 as = "Perspective3<T::Archived>",
35 bound(archive = "
36 T: rkyv::Archive,
37 Matrix4<T>: rkyv::Archive<Archived = Matrix4<T::Archived>>
38 ")
39 )
40)]
41#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
42#[derive(Copy, Clone)]
43#[cfg_attr(feature = "defmt", derive(defmt::Format))]
44pub struct Perspective3<T> {
45 matrix: Matrix4<T>,
46}
47
48impl<T: RealField> fmt::Debug for Perspective3<T> {
49 fn fmt(&self, f: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
50 self.matrix.fmt(f)
51 }
52}
53
54impl<T: RealField> PartialEq for Perspective3<T> {
55 #[inline]
56 fn eq(&self, right: &Self) -> bool {
57 self.matrix == right.matrix
58 }
59}
60
61#[cfg(feature = "bytemuck")]
62unsafe impl<T> bytemuck::Zeroable for Perspective3<T>
63where
64 T: RealField + bytemuck::Zeroable,
65 Matrix4<T>: bytemuck::Zeroable,
66{
67}
68
69#[cfg(feature = "bytemuck")]
70unsafe impl<T> bytemuck::Pod for Perspective3<T>
71where
72 T: RealField + bytemuck::Pod,
73 Matrix4<T>: bytemuck::Pod,
74{
75}
76
77#[cfg(feature = "serde-serialize-no-std")]
78impl<T: RealField + Serialize> Serialize for Perspective3<T> {
79 fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
80 where
81 S: Serializer,
82 {
83 self.matrix.serialize(serializer)
84 }
85}
86
87#[cfg(feature = "serde-serialize-no-std")]
88impl<'a, T: RealField + Deserialize<'a>> Deserialize<'a> for Perspective3<T> {
89 fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
90 where
91 Des: Deserializer<'a>,
92 {
93 let matrix = Matrix4::<T>::deserialize(deserializer)?;
94
95 Ok(Self::from_matrix_unchecked(matrix))
96 }
97}
98
99impl<T> Perspective3<T> {
100 #[inline]
105 pub const fn from_matrix_unchecked(matrix: Matrix4<T>) -> Self {
106 Self { matrix }
107 }
108}
109
110impl<T: RealField> Perspective3<T> {
111 pub fn new(aspect: T, fovy: T, znear: T, zfar: T) -> Self {
113 assert!(
114 relative_ne!(zfar, znear),
115 "The near-plane and far-plane must not be superimposed."
116 );
117 assert!(
118 !relative_eq!(aspect, T::zero()),
119 "The aspect ratio must not be zero."
120 );
121
122 let matrix = Matrix4::identity();
123 let mut res = Self::from_matrix_unchecked(matrix);
124
125 res.set_fovy(fovy);
126 res.set_aspect(aspect);
127 res.set_znear_and_zfar(znear, zfar);
128
129 res.matrix[(3, 3)] = T::zero();
130 res.matrix[(3, 2)] = -T::one();
131
132 res
133 }
134
135 #[inline]
137 #[must_use]
138 pub fn inverse(&self) -> Matrix4<T> {
139 let mut res = self.clone().to_homogeneous();
140
141 res[(0, 0)] = T::one() / self.matrix[(0, 0)].clone();
142 res[(1, 1)] = T::one() / self.matrix[(1, 1)].clone();
143 res[(2, 2)] = T::zero();
144
145 let m23 = self.matrix[(2, 3)].clone();
146 let m32 = self.matrix[(3, 2)].clone();
147
148 res[(2, 3)] = T::one() / m32.clone();
149 res[(3, 2)] = T::one() / m23.clone();
150 res[(3, 3)] = -self.matrix[(2, 2)].clone() / (m23 * m32);
151
152 res
153 }
154
155 #[inline]
157 #[must_use]
158 pub fn to_homogeneous(self) -> Matrix4<T> {
159 self.matrix.clone_owned()
160 }
161
162 #[inline]
164 #[must_use]
165 pub const fn as_matrix(&self) -> &Matrix4<T> {
166 &self.matrix
167 }
168
169 #[inline]
171 #[must_use]
172 pub const fn as_projective(&self) -> &Projective3<T> {
173 unsafe { &*(self as *const Perspective3<T> as *const Projective3<T>) }
174 }
175
176 #[inline]
178 #[must_use]
179 pub fn to_projective(self) -> Projective3<T> {
180 Projective3::from_matrix_unchecked(self.matrix)
181 }
182
183 #[inline]
185 pub fn into_inner(self) -> Matrix4<T> {
186 self.matrix
187 }
188
189 #[deprecated(note = "use `.into_inner()` instead")]
192 #[inline]
193 pub fn unwrap(self) -> Matrix4<T> {
194 self.matrix
195 }
196
197 #[inline]
199 #[must_use]
200 pub fn aspect(&self) -> T {
201 self.matrix[(1, 1)].clone() / self.matrix[(0, 0)].clone()
202 }
203
204 #[inline]
206 #[must_use]
207 pub fn fovy(&self) -> T {
208 (T::one() / self.matrix[(1, 1)].clone()).atan() * crate::convert(2.0)
209 }
210
211 #[inline]
213 #[must_use]
214 pub fn znear(&self) -> T {
215 let ratio =
216 (-self.matrix[(2, 2)].clone() + T::one()) / (-self.matrix[(2, 2)].clone() - T::one());
217
218 self.matrix[(2, 3)].clone() / (ratio * crate::convert(2.0))
219 - self.matrix[(2, 3)].clone() / crate::convert(2.0)
220 }
221
222 #[inline]
224 #[must_use]
225 pub fn zfar(&self) -> T {
226 let ratio =
227 (-self.matrix[(2, 2)].clone() + T::one()) / (-self.matrix[(2, 2)].clone() - T::one());
228
229 (self.matrix[(2, 3)].clone() - ratio * self.matrix[(2, 3)].clone()) / crate::convert(2.0)
230 }
231
232 #[inline]
237 #[must_use]
238 pub fn project_point(&self, p: &Point3<T>) -> Point3<T> {
239 let inverse_denom = -T::one() / p[2].clone();
240 Point3::new(
241 self.matrix[(0, 0)].clone() * p[0].clone() * inverse_denom.clone(),
242 self.matrix[(1, 1)].clone() * p[1].clone() * inverse_denom.clone(),
243 (self.matrix[(2, 2)].clone() * p[2].clone() + self.matrix[(2, 3)].clone())
244 * inverse_denom,
245 )
246 }
247
248 #[inline]
250 #[must_use]
251 pub fn unproject_point(&self, p: &Point3<T>) -> Point3<T> {
252 let inverse_denom =
253 self.matrix[(2, 3)].clone() / (p[2].clone() + self.matrix[(2, 2)].clone());
254
255 Point3::new(
256 p[0].clone() * inverse_denom.clone() / self.matrix[(0, 0)].clone(),
257 p[1].clone() * inverse_denom.clone() / self.matrix[(1, 1)].clone(),
258 -inverse_denom,
259 )
260 }
261
262 #[inline]
265 #[must_use]
266 pub fn project_vector<SB>(&self, p: &Vector<T, U3, SB>) -> Vector3<T>
267 where
268 SB: Storage<T, U3>,
269 {
270 let inverse_denom = -T::one() / p[2].clone();
271 Vector3::new(
272 self.matrix[(0, 0)].clone() * p[0].clone() * inverse_denom.clone(),
273 self.matrix[(1, 1)].clone() * p[1].clone() * inverse_denom,
274 self.matrix[(2, 2)].clone(),
275 )
276 }
277
278 #[inline]
281 pub fn set_aspect(&mut self, aspect: T) {
282 assert!(
283 !relative_eq!(aspect, T::zero()),
284 "The aspect ratio must not be zero."
285 );
286 self.matrix[(0, 0)] = self.matrix[(1, 1)].clone() / aspect;
287 }
288
289 #[inline]
291 pub fn set_fovy(&mut self, fovy: T) {
292 let old_m22 = self.matrix[(1, 1)].clone();
293 let new_m22 = T::one() / (fovy / crate::convert(2.0)).tan();
294 self.matrix[(1, 1)] = new_m22.clone();
295 self.matrix[(0, 0)] *= new_m22 / old_m22;
296 }
297
298 #[inline]
300 pub fn set_znear(&mut self, znear: T) {
301 let zfar = self.zfar();
302 self.set_znear_and_zfar(znear, zfar);
303 }
304
305 #[inline]
307 pub fn set_zfar(&mut self, zfar: T) {
308 let znear = self.znear();
309 self.set_znear_and_zfar(znear, zfar);
310 }
311
312 #[inline]
314 pub fn set_znear_and_zfar(&mut self, znear: T, zfar: T) {
315 self.matrix[(2, 2)] = (zfar.clone() + znear.clone()) / (znear.clone() - zfar.clone());
316 self.matrix[(2, 3)] = zfar.clone() * znear.clone() * crate::convert(2.0) / (znear - zfar);
317 }
318}
319
320#[cfg(feature = "rand-no-std")]
321impl<T: RealField> Distribution<Perspective3<T>> for StandardUniform
322where
323 StandardUniform: Distribution<T>,
324{
325 fn sample<R: Rng + ?Sized>(&self, r: &mut R) -> Perspective3<T> {
327 use crate::base::helper;
328 let znear = r.random();
329 let zfar = helper::reject_rand(r, |x: &T| !(x.clone() - znear.clone()).is_zero());
330 let aspect = helper::reject_rand(r, |x: &T| !x.is_zero());
331
332 Perspective3::new(aspect, r.random(), znear, zfar)
333 }
334}
335
336#[cfg(feature = "arbitrary")]
337impl<T: RealField + Arbitrary> Arbitrary for Perspective3<T> {
338 fn arbitrary(g: &mut Gen) -> Self {
339 use crate::base::helper;
340 let znear: T = Arbitrary::arbitrary(g);
341 let zfar = helper::reject(g, |x: &T| !(x.clone() - znear.clone()).is_zero());
342 let aspect = helper::reject(g, |x: &T| !x.is_zero());
343
344 Self::new(aspect, Arbitrary::arbitrary(g), znear, zfar)
345 }
346}
347
348impl<T: RealField> From<Perspective3<T>> for Matrix4<T> {
349 #[inline]
350 fn from(pers: Perspective3<T>) -> Self {
351 pers.into_inner()
352 }
353}