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Use correct matrix ordering coventions for CFrame (#103)

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Kenneth Loeffler 2023-09-17 19:54:26 -07:00 committed by GitHub
parent 015908a3b0
commit 1dfffdc31b
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2 changed files with 97 additions and 28 deletions
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111
src/roblox/datatypes/types/cframe.rs
View file

@ -1,7 +1,7 @@
use core::fmt;
use std::ops;
use glam::{EulerRot, Mat4, Quat, Vec3};
use glam::{EulerRot, Mat3, Mat4, Quat, Vec3};
use mlua::{prelude::*, Variadic};
use rbx_dom_weak::types::{CFrame as DomCFrame, Matrix3 as DomMatrix3, Vector3 as DomVector3};
@ -26,8 +26,8 @@ impl CFrame {
self.0.w_axis.truncate()
}
fn orientation(&self) -> (Vec3, Vec3, Vec3) {
(
fn orientation(&self) -> Mat3 {
Mat3::from_cols(
self.0.x_axis.truncate(),
self.0.y_axis.truncate(),
self.0.z_axis.truncate(),
@ -140,9 +140,9 @@ impl LuaExportsTable<'_> for CFrame {
12 => match ArgsMatrix::from_lua_multi(args, lua) {
Ok((x, y, z, r00, r01, r02, r10, r11, r12, r20, r21, r22)) => {
Ok(CFrame(Mat4::from_cols_array_2d(&[
[r00, r01, r02, 0.0],
[r10, r11, r12, 0.0],
[r20, r21, r22, 0.0],
[r00, r10, r20, 0.0],
[r01, r11, r21, 0.0],
[r02, r12, r22, 0.0],
[x, y, z, 1.0],
])))
}
@ -183,12 +183,16 @@ impl LuaUserData for CFrame {
fields.add_field_method_get("X", |_, this| Ok(this.position().x));
fields.add_field_method_get("Y", |_, this| Ok(this.position().y));
fields.add_field_method_get("Z", |_, this| Ok(this.position().z));
fields.add_field_method_get("XVector", |_, this| Ok(Vector3(this.orientation().0)));
fields.add_field_method_get("YVector", |_, this| Ok(Vector3(this.orientation().1)));
fields.add_field_method_get("ZVector", |_, this| Ok(Vector3(this.orientation().2)));
fields.add_field_method_get("RightVector", |_, this| Ok(Vector3(this.orientation().0)));
fields.add_field_method_get("UpVector", |_, this| Ok(Vector3(this.orientation().1)));
fields.add_field_method_get("LookVector", |_, this| Ok(Vector3(-this.orientation().2)));
fields.add_field_method_get("XVector", |_, this| Ok(Vector3(this.orientation().x_axis)));
fields.add_field_method_get("YVector", |_, this| Ok(Vector3(this.orientation().y_axis)));
fields.add_field_method_get("ZVector", |_, this| Ok(Vector3(this.orientation().z_axis)));
fields.add_field_method_get("RightVector", |_, this| {
Ok(Vector3(this.orientation().x_axis))
});
fields.add_field_method_get("UpVector", |_, this| Ok(Vector3(this.orientation().y_axis)));
fields.add_field_method_get("LookVector", |_, this| {
Ok(Vector3(-this.orientation().z_axis))
});
}
fn add_methods<'lua, M: LuaUserDataMethods<'lua, Self>>(methods: &mut M) {
@ -264,12 +268,12 @@ impl LuaUserData for CFrame {
#[rustfmt::skip]
methods.add_method("GetComponents", |_, this, ()| {
let pos = this.position();
let (rx, ry, rz) = this.orientation();
let transposed = this.orientation().transpose();
Ok((
pos.x, pos.y, -pos.z,
rx.x, rx.y, rx.z,
ry.x, ry.y, ry.z,
rz.x, rz.y, rz.z,
pos.x, pos.y, pos.z,
transposed.x_axis.x, transposed.x_axis.y, transposed.x_axis.z,
transposed.y_axis.x, transposed.y_axis.y, transposed.y_axis.z,
transposed.z_axis.x, transposed.z_axis.y, transposed.z_axis.z,
))
});
methods.add_method("ToEulerAnglesXYZ", |_, this, ()| {
@ -321,14 +325,14 @@ impl LuaUserData for CFrame {
impl fmt::Display for CFrame {
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
let pos = self.position();
let (rx, ry, rz) = self.orientation();
let transposed = self.orientation().transpose();
write!(
f,
"{}, {}, {}, {}",
Vector3(pos),
Vector3(rx),
Vector3(ry),
Vector3(rz)
Vector3(transposed.x_axis),
Vector3(transposed.y_axis),
Vector3(transposed.z_axis)
)
}
}
@ -373,10 +377,11 @@ impl ops::Sub<Vector3> for CFrame {
impl From<DomCFrame> for CFrame {
fn from(v: DomCFrame) -> Self {
let transposed = v.orientation.transpose();
CFrame(Mat4::from_cols(
Vector3::from(v.orientation.x).0.extend(0.0),
Vector3::from(v.orientation.y).0.extend(0.0),
Vector3::from(v.orientation.z).0.extend(0.0),
Vector3::from(transposed.x).0.extend(0.0),
Vector3::from(transposed.y).0.extend(0.0),
Vector3::from(transposed.z).0.extend(0.0),
Vector3::from(v.position).0.extend(1.0),
))
}
@ -384,13 +389,13 @@ impl From<DomCFrame> for CFrame {
impl From<CFrame> for DomCFrame {
fn from(v: CFrame) -> Self {
let (rx, ry, rz) = v.orientation();
let transposed = v.orientation().transpose();
DomCFrame {
position: DomVector3::from(Vector3(v.position())),
orientation: DomMatrix3::new(
DomVector3::from(Vector3(rx)),
DomVector3::from(Vector3(ry)),
DomVector3::from(Vector3(rz)),
DomVector3::from(Vector3(transposed.x_axis)),
DomVector3::from(Vector3(transposed.y_axis)),
DomVector3::from(Vector3(transposed.z_axis)),
),
}
}
@ -414,3 +419,53 @@ fn look_at(from: Vec3, to: Vec3, up: Vec3) -> Mat4 {
from.extend(1.0),
)
}
#[cfg(test)]
mod cframe_test {
use glam::{Mat4, Vec3};
use rbx_dom_weak::types::{CFrame as DomCFrame, Matrix3 as DomMatrix3, Vector3 as DomVector3};
use super::CFrame;
#[test]
fn dom_cframe_from_cframe() {
let dom_cframe = DomCFrame::new(
DomVector3::new(1.0, 2.0, 3.0),
DomMatrix3::new(
DomVector3::new(1.0, 2.0, 3.0),
DomVector3::new(1.0, 2.0, 3.0),
DomVector3::new(1.0, 2.0, 3.0),
),
);
let cframe = CFrame(Mat4::from_cols(
Vec3::new(1.0, 1.0, 1.0).extend(0.0),
Vec3::new(2.0, 2.0, 2.0).extend(0.0),
Vec3::new(3.0, 3.0, 3.0).extend(0.0),
Vec3::new(1.0, 2.0, 3.0).extend(1.0),
));
assert_eq!(CFrame::from(dom_cframe), cframe)
}
#[test]
fn cframe_from_dom_cframe() {
let cframe = CFrame(Mat4::from_cols(
Vec3::new(1.0, 2.0, 3.0).extend(0.0),
Vec3::new(1.0, 2.0, 3.0).extend(0.0),
Vec3::new(1.0, 2.0, 3.0).extend(0.0),
Vec3::new(1.0, 2.0, 3.0).extend(1.0),
));
let dom_cframe = DomCFrame::new(
DomVector3::new(1.0, 2.0, 3.0),
DomMatrix3::new(
DomVector3::new(1.0, 1.0, 1.0),
DomVector3::new(2.0, 2.0, 2.0),
DomVector3::new(3.0, 3.0, 3.0),
),
);
assert_eq!(DomCFrame::from(cframe), dom_cframe)
}
}

14
tests/roblox/datatypes/CFrame.luau
View file

@ -72,6 +72,8 @@ assertEq(
CFrame.new(1, 2, 3)
)
assertEq(CFrame.new(1, 2, 3, 1, 0, 0, 0, 1, 0, 0, 0, 1), CFrame.new(1, 2, 3))
-- Constants
assertEq(CFrame.identity, CFrame.new())
@ -123,6 +125,18 @@ assertEq(
CFrame.lookAt(Vector3.new(0, 0, -5), Vector3.new(0, 0, -5) - Vector3.xAxis)
)
-- Angles
assertEq(
CFrame.Angles(math.pi/2, math.pi/4, math.pi/4),
CFrame.new(
0, 0, 0,
0.49999997, -0.49999997, 0.707106769,
0.49999994, -0.5, -0.707106769,
0.707106769, 0.707106769, 0
)
)
-- TODO: More methods
-- CFrames on instances