83 lines
1.8 KiB
Rust
83 lines
1.8 KiB
Rust
use nalgebra as na;
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#[repr(C)]
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pub struct Vec3C {
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pub x: f32,
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pub y: f32,
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pub z: f32,
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}
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#[repr(C)]
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pub struct QuatC {
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pub i: f32,
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pub j: f32,
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pub k: f32,
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pub w: f32,
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}
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impl Into<na::UnitQuaternion<f32>> for QuatC {
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fn into(self) -> na::UnitQuaternion<f32> {
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na::UnitQuaternion::from_quaternion(na::Quaternion::from_parts(
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self.w,
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na::vector![self.i, self.j, self.k],
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))
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}
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}
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impl Into<na::Vector3<f32>> for Vec3C {
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fn into(self) -> na::Vector3<f32> {
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na::vector![self.x, self.y, self.z]
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}
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}
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impl From<na::Vector3<f32>> for Vec3C {
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fn from(value: na::Vector3<f32>) -> Self {
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Vec3C { x: value.x, y: value.y, z: value.z }
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}
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}
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#[unsafe(no_mangle)]
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pub extern "C" fn apply_rot(vec_ptr: *const Vec3C, quat_ptr: *const QuatC) -> Vec3C {
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if vec_ptr.is_null() || quat_ptr.is_null() {
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return Vec3C { x: 0.0, y: 0.0, z: 0.0 };
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}
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unsafe {
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let v_raw = &*vec_ptr;
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let q_raw = &*quat_ptr;
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let v = na::Vector3::new(v_raw.x, v_raw.y, v_raw.z);
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let q = na::UnitQuaternion::from_quaternion(
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na::Quaternion::new(q_raw.w , q_raw.i, q_raw.j, q_raw.k)
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);
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let rotated = q.transform_vector(&v);
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Vec3C { x: rotated.x, y: rotated.y, z: rotated.z }
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}
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}
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#[unsafe(no_mangle)]
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pub extern "C" fn multiply_vec_by(vec_ptr: *mut Vec3C, k: f32) {
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assert!(!vec_ptr.is_null());
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unsafe {
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(*vec_ptr).x *= k;
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(*vec_ptr).y *= k;
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(*vec_ptr).z *= k;
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}
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}
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#[unsafe(no_mangle)]
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pub extern "C" fn add_to_vec(vec_ptr: *mut Vec3C, to_add_ptr: *const Vec3C){
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assert!(!vec_ptr.is_null());
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assert!(!to_add_ptr.is_null());
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unsafe {
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(*vec_ptr).x += (*to_add_ptr).x;
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(*vec_ptr).y += (*to_add_ptr).y;
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(*vec_ptr).z += (*to_add_ptr).z;
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}
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}
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