forked from 1b-agent/opencadstudio-upstream
Hakan SevenandClaude Opus 4.8
012ec3febc
A drawing opened with a twisted view made a TOP-face click keep the twist, so north ended up at the bottom. Add Camera::snap_to_face, which snaps to a canonical orientation — north (UCS +Y) up for top/bottom, world (UCS +Z) up for the side elevations — ignoring the current up-sense. Face clicks use it; edges/corners still preserve their up so they spin smoothly around the clicked feature. The Home button routes through the same path, giving a reliable reset for a twisted view. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
482 lines
22 KiB
Rust
482 lines
22 KiB
Rust
// Arcball orbit camera — quaternion-based rotation, no gimbal lock.
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//
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// The camera orbits around a `target` point using a unit quaternion (`rotation`)
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// that maps the canonical "camera looks down -Z" pose to the current view.
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//
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// Pan: translates `target` in the view-plane (no rotation change).
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// Orbit: updates `rotation` via arcball delta — converts screen drag delta
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// to a rotation axis/angle, then pre-multiplies the current quaternion.
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// Zoom: adjusts `distance` (exponential feel).
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// Snap: directly assigns yaw+pitch encoded as a quaternion (for ViewCube).
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//
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// Coordinate convention: Z-up world space (same as the rest of OpenCADStudio).
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use glam::{vec3, DVec3, Mat4, Quat, Vec3};
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use iced::{Point, Rectangle};
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#[derive(Clone, Copy, PartialEq, Eq, Debug)]
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pub enum Projection {
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Orthographic,
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Perspective,
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}
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#[derive(Clone)]
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pub struct Camera {
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/// World-space pivot point the camera orbits around. Kept in f64 so a far
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/// pan (large offset-relative coordinate) doesn't lose precision in the
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/// pivot itself — the eventual relative-to-eye render path needs an exact
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/// eye, which derives from this target.
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pub target: DVec3,
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/// Arcball rotation: maps canonical pose to current orientation.
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pub rotation: Quat,
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/// Distance from eye to target.
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pub distance: f32,
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/// Vertical field of view in radians (perspective only).
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pub fov_y: f32,
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pub projection: Projection,
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// --- Legacy yaw/pitch exposed only for ViewCube hit-test compatibility ---
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// Kept in sync with `rotation` whenever orbit() or snap_angles() is called.
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pub yaw: f32,
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pub pitch: f32,
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}
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impl Default for Camera {
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fn default() -> Self {
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// Default: look straight down at the XY drawing plane (top view, Z-up).
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// yaw = 0, pitch = PI/2 → eye is directly above target.
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let yaw = 0.0_f32;
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let pitch = std::f32::consts::FRAC_PI_2;
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Self {
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target: DVec3::ZERO,
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rotation: yaw_pitch_to_quat(yaw, pitch, 0.0),
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distance: 60.36,
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fov_y: 45.0_f32.to_radians(),
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projection: Projection::Orthographic,
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yaw,
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pitch,
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}
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}
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}
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pub const OPENGL_TO_WGPU: Mat4 = glam::mat4(
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glam::vec4(1.0, 0.0, 0.0, 0.0),
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glam::vec4(0.0, 1.0, 0.0, 0.0),
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glam::vec4(0.0, 0.0, 0.5, 0.0),
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glam::vec4(0.0, 0.0, 0.5, 1.0),
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);
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impl Camera {
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// ── Eye position ───────────────────────────────────────────────────────
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/// Eye position in full f64 precision (world space). The whole pipeline is
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/// relative-to-eye, so this is the canonical eye; direction-only callers
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/// (view-matrix basis, ray casts) take `.as_vec3()`.
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pub fn eye(&self) -> DVec3 {
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let eye_dir = (self.rotation * Vec3::Z).as_dvec3();
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self.target + eye_dir * self.distance as f64
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}
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/// Half-height of the orthographic frustum in world units.
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pub fn ortho_size(&self) -> f32 {
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self.distance * (self.fov_y * 0.5).tan()
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}
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// ── Projection matrices ────────────────────────────────────────────────
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/// Orthographic near/far that CENTRE the target plane at ndc-z ≈ 0.5.
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///
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/// The draw-order depth bias shifts clip-z by ±`DRAW_ORDER_BIAS` (0.001).
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/// The old range (`near = distance*0.001`, `far = distance*1000`) parked the
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/// geometry at ndc-z ≈ 0.001 — right on the near plane — so a front-biased
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/// entity landed exactly at z = 0 and got clipped the moment f32 rounding
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/// (worse at high zoom) tipped it past the plane, making the drawing vanish.
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/// A symmetric range gives the bias half the depth buffer of headroom on
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/// each side; ortho permits a negative near.
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fn ortho_depth_range(&self) -> (f32, f32) {
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let r = (self.distance * 1000.0).max(1.0);
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(self.distance - r, self.distance + r)
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}
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/// Relative-to-eye view-projection: identical projection, but the view
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/// matrix carries rotation only (translation zeroed). Positions fed to it
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/// must already be expressed relative to the eye (done per-vertex with
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/// double-single precision in the shader), so the large eye translation
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/// never enters the f32 matrix and large-coordinate jitter disappears.
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pub fn view_proj_rte(&self, bounds: Rectangle) -> Mat4 {
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let aspect = bounds.width / bounds.height;
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let up_dir = self.rotation * Vec3::Y;
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let mut view = Mat4::look_at_rh(self.eye().as_vec3(), self.target.as_vec3(), up_dir);
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// Zero the translation column → pure rotation (world→view basis).
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view.w_axis = glam::vec4(0.0, 0.0, 0.0, 1.0);
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let proj = match self.projection {
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Projection::Perspective => {
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Mat4::perspective_rh(self.fov_y, aspect, self.distance * 0.001, self.distance * 1000.0)
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}
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Projection::Orthographic => {
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let h = self.ortho_size();
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let w = h * aspect;
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let (near, far) = self.ortho_depth_range();
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Mat4::orthographic_rh(-w, w, -h, h, near, far)
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}
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};
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OPENGL_TO_WGPU * proj * view
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}
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/// Project a world point to screen pixels with full f64 precision: the
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/// point is made eye-relative in f64 (small numbers near the view) before
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/// the rotation-only projection, so it stays exact at large absolute
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/// coordinates — the CPU equivalent of the GPU's relative-to-eye path.
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/// Returns `None` for points at/behind the eye plane (w ≈ 0).
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pub fn project(&self, p: glam::DVec3, bounds: Rectangle) -> Option<glam::Vec2> {
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let rel = (p - self.eye()).as_vec3();
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let clip = self.view_proj_rte(bounds) * rel.extend(1.0);
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if clip.w.abs() < 1e-9 {
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return None;
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}
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let ndc = clip.truncate() / clip.w;
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Some(glam::vec2(
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(ndc.x * 0.5 + 0.5) * bounds.width,
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(0.5 - ndc.y * 0.5) * bounds.height,
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))
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}
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/// Unproject a screen point onto an arbitrary world plane in f64. The ray
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/// is built in eye-relative space (precise), intersected with the plane
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/// expressed relative to the eye, then shifted back by the f64 eye — so the
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/// returned world point keeps full precision at large absolute coordinates.
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pub fn unproject_on_plane(
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&self,
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screen: Point,
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bounds: Rectangle,
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plane_normal: Vec3,
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plane_point: glam::DVec3,
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) -> glam::DVec3 {
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let eye = self.eye();
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let ndc_x = (screen.x / bounds.width) * 2.0 - 1.0;
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let ndc_y = 1.0 - (screen.y / bounds.height) * 2.0;
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let inv = self.view_proj_rte(bounds).inverse();
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// Ray origin / direction in eye-relative space.
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let (ray_origin, ray_dir) = match self.projection {
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Projection::Perspective => {
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let near_pt = inv.project_point3(Vec3::new(ndc_x, ndc_y, 0.0));
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let far_pt = inv.project_point3(Vec3::new(ndc_x, ndc_y, 1.0));
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(near_pt, (far_pt - near_pt).normalize())
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}
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Projection::Orthographic => {
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let origin = inv.project_point3(Vec3::new(ndc_x, ndc_y, 0.0));
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let forward = self.rotation * Vec3::NEG_Z;
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(origin, forward)
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}
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};
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// Plane point relative to the eye (small) for a precise intersection.
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let plane_rel = (plane_point - eye).as_vec3();
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let denom = ray_dir.dot(plane_normal);
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let rel_hit = if denom.abs() < 1e-6 {
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plane_rel
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} else {
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let t = (plane_rel - ray_origin).dot(plane_normal) / denom;
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ray_origin + ray_dir * t
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};
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eye + rel_hit.as_dvec3()
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}
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/// Eye position split into two f32 (high + low) emulating f64, for the
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/// double-single relative-to-eye shaders. `high + low ≈ eye` to ~f64
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/// precision; the shader subtracts these from each vertex's own high/low.
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pub fn eye_high_low(&self) -> ([f32; 3], [f32; 3]) {
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let e = self.eye();
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let high = [e.x as f32, e.y as f32, e.z as f32];
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let low = [
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(e.x - high[0] as f64) as f32,
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(e.y - high[1] as f64) as f32,
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(e.z - high[2] as f64) as f32,
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];
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(high, low)
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}
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/// Project a screen point onto an arbitrary world-space plane.
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///
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/// The plane is defined by `plane_normal` (unit vector) and a `plane_point`
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/// that lies on it. Returns the ray–plane intersection (falling back to
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/// `plane_point` when nearly parallel), eye-relative in f64 so the cursor
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/// stays precise at UTM-scale coordinates.
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pub fn pick_on_plane(
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&self,
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screen: Point,
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bounds: Rectangle,
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plane_normal: Vec3,
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plane_point: glam::DVec3,
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) -> glam::DVec3 {
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self.unproject_on_plane(screen, bounds, plane_normal, plane_point)
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}
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/// Project a screen point onto the plane through the orbit target.
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pub fn pick_on_target_plane(&self, screen: Point, bounds: Rectangle) -> glam::DVec3 {
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let forward = (self.target.as_vec3() - self.eye().as_vec3()).normalize_or(Vec3::NEG_Z);
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self.unproject_on_plane(screen, bounds, forward, self.target)
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}
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// ── ViewCube rotation matrix ───────────────────────────────────────────
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/// Returns the rotation matrix for the ViewCube.
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///
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/// The camera quaternion maps canonical pose (+Z eye) → current view.
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/// The ViewCube needs the inverse so the cube stays world-aligned.
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/// Inverse of a unit quaternion = its conjugate.
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pub fn view_rotation_mat(&self) -> Mat4 {
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Mat4::from_quat(self.rotation.conjugate())
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}
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/// The camera's roll — rotation about the view axis, in radians — the
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/// inverse of the `roll` argument to [`yaw_pitch_to_quat`]. Recovered by
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/// removing the yaw/pitch frame from the live rotation, so a saved view can
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/// store its twist and round-trip it. Exact for a plan view (the twisted-
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/// UCS case); approximate after a free 3D orbit.
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pub fn roll(&self) -> f32 {
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let q_yp = yaw_pitch_to_quat(self.yaw, self.pitch, 0.0);
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let q_roll = q_yp.conjugate() * self.rotation;
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// q_roll is (nominally) a rotation about Z; extract its angle.
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2.0 * q_roll.z.atan2(q_roll.w)
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}
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// ── Navigation ────────────────────────────────────────────────────────
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/// Arcball orbit: drag delta (dx, dy) in screen pixels.
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pub fn orbit(&mut self, delta_x: f32, delta_y: f32) {
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if delta_x.abs() < 1e-6 && delta_y.abs() < 1e-6 {
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return;
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}
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let speed = 0.005_f32;
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let angle = (delta_x * delta_x + delta_y * delta_y).sqrt() * speed;
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// Screen drag → rotation axis: right drag = rotate around cam_up (Y),
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// down drag = rotate around cam_right (X). Negate so drag direction
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// matches intuitive "grab and spin" arcball behaviour.
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let screen_axis = vec3(-delta_y, -delta_x, 0.0).normalize_or_zero();
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let cam_right = self.rotation * Vec3::X;
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let cam_up = self.rotation * Vec3::Y;
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let world_axis = (cam_right * screen_axis.x + cam_up * screen_axis.y).normalize_or_zero();
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if world_axis.length_squared() < 1e-12 {
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return;
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}
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let delta_rot = Quat::from_axis_angle(world_axis, angle);
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self.rotation = (delta_rot * self.rotation).normalize();
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// Sync legacy yaw/pitch for hit-test functions.
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self.sync_yaw_pitch();
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}
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pub fn zoom(&mut self, delta: f32) {
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self.distance = (self.distance * (1.0 - delta * 0.1)).max(0.001);
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}
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/// World-space offset from `target` to the point under `screen` on the
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/// target plane. Computed in the camera frame (small numbers) and rotated
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/// to world — it never touches the large absolute target, so it stays
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/// precise at UTM-scale coordinates. For perspective this is the offset
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/// evaluated at the target plane (the correct pivot for zoom-to-cursor).
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fn cursor_offset_on_target_plane(&self, screen: Point, bounds: Rectangle) -> Vec3 {
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let ndc_x = (screen.x / bounds.width) * 2.0 - 1.0;
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let ndc_y = 1.0 - (screen.y / bounds.height) * 2.0;
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let aspect = bounds.width / bounds.height;
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let half_h = self.ortho_size();
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let half_w = half_h * aspect;
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let cam_right = self.rotation * Vec3::X;
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let cam_up = self.rotation * Vec3::Y;
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cam_right * (ndc_x * half_w) + cam_up * (ndc_y * half_h)
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}
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pub fn zoom_about_point(&mut self, screen: Point, bounds: Rectangle, delta: f32) {
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if bounds.width <= 0.0 || bounds.height <= 0.0 {
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self.zoom(delta);
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return;
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}
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// Keep the point under the cursor fixed by working with its offset
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// *relative to target* before and after the zoom. Both offsets are
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// small (camera-frame) numbers, so their difference is exact even at
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// UTM coordinates — the old absolute view_proj.inverse() picks each
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// carried ~0.5 m of f32 error that didn't cancel, making the whole
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// scene jump on every zoom step.
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let before = self.cursor_offset_on_target_plane(screen, bounds);
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self.zoom(delta);
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let after = self.cursor_offset_on_target_plane(screen, bounds);
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self.target += (before - after).as_dvec3();
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}
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/// Pan so the world point under the cursor tracks it: screen pixels are
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/// converted to world units via the ortho world-per-pixel scale of a
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/// viewport `viewport_height` pixels tall. Used by tiled panes where the
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/// pane height differs from the full canvas.
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pub fn pan_screen(&mut self, delta_x: f32, delta_y: f32, viewport_height: f32) {
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let wpp = if viewport_height > 0.0 {
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(2.0 * self.ortho_size()) / viewport_height
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} else {
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0.0
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};
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let cam_right = self.rotation * Vec3::X;
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let cam_up = self.rotation * Vec3::Y;
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self.target -= (cam_right * delta_x * wpp).as_dvec3();
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self.target += (cam_up * delta_y * wpp).as_dvec3();
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}
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pub fn fit_to_bounds(&mut self, min: Vec3, max: Vec3) {
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self.target = ((min + max) * 0.5).as_dvec3();
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let size = (max - min).length();
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self.distance = size * 1.5;
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}
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// ── ViewCube snap ─────────────────────────────────────────────────────
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/// Snap to a canonical view direction (called by ViewCubeSnap).
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/// `eye_dir` is the unit vector from the target toward the camera.
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///
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/// Up vector resolution:
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/// 1. Take the current up.
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/// 2. Pick the world axis (±X, ±Y, ±Z) whose dot product with the
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/// current up is highest — skipping any axis (anti-)parallel to
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/// the new gaze direction.
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/// 3. Project that axis onto the plane ⊥ `new_eye` and use that as
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/// the new up.
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///
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/// Result: small tilts collapse onto the nearest world axis (so the
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/// view always lands cleanly aligned), while genuine flips of the
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/// up-sense (e.g. orbited upside-down) are preserved.
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pub fn snap_to_direction(&mut self, eye_dir: Vec3, ucs: glam::Mat4) {
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let new_eye = eye_dir.normalize_or(Vec3::Z);
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let cur_up = self.rotation * Vec3::Y;
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// Candidate up axes are the UCS axes, not world X/Y/Z, so a face snap
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// lands the view square to the user's coordinate system (in-plane roll
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// included). Identity `ucs` reproduces the world-aligned snap.
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let ux = ucs.transform_vector3(Vec3::X).normalize_or(Vec3::X);
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let uy = ucs.transform_vector3(Vec3::Y).normalize_or(Vec3::Y);
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let uz = ucs.transform_vector3(Vec3::Z).normalize_or(Vec3::Z);
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let cardinals = [ux, -ux, uy, -uy, uz, -uz];
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let mut best_score = f32::NEG_INFINITY;
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let mut best_up = uz;
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for axis in cardinals {
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// Skip axes (nearly) collinear with the new gaze — they can't
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// serve as up because the projection onto the plane would
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// vanish.
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if axis.dot(new_eye).abs() > 0.999 {
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continue;
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}
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let score = axis.dot(cur_up);
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if score > best_score {
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best_score = score;
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best_up = axis;
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}
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}
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// Project the chosen axis onto the plane ⊥ new_eye and normalize.
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let projected = best_up - new_eye * best_up.dot(new_eye);
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let new_up = projected.normalize_or(if new_eye.dot(uz).abs() < 0.99 {
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(uz - new_eye * uz.dot(new_eye)).normalize()
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} else {
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(uy - new_eye * uy.dot(new_eye)).normalize()
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});
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let new_right = new_up.cross(new_eye).normalize();
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// Camera rotation columns: [cam_x | cam_y | cam_z] where
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// cam_z = eye_dir (canonical "+Z is toward eye"), cam_y = up.
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let mat = glam::Mat3::from_cols(new_right, new_up, new_eye);
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self.rotation = Quat::from_mat3(&mat).normalize();
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self.sync_yaw_pitch();
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}
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/// Snap to a canonical face view: looks along `eye_dir` with a fixed
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/// upright orientation — north (UCS +Y) up for top/bottom, world (UCS +Z)
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/// up for the side elevations. Unlike [`snap_to_direction`] this ignores
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/// the current up-sense, so a face click always lands square and never
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/// upside-down, even when the drawing opened with a twisted view.
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pub fn snap_to_face(&mut self, eye_dir: Vec3, ucs: glam::Mat4) {
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let new_eye = eye_dir.normalize_or(Vec3::Z);
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let uy = ucs.transform_vector3(Vec3::Y).normalize_or(Vec3::Y);
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let uz = ucs.transform_vector3(Vec3::Z).normalize_or(Vec3::Z);
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// Looking along the UCS Z axis (top/bottom) has no "world up" to use,
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// so fall back to north (+Y); every side view uses world up.
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let up_ref = if new_eye.dot(uz).abs() > 0.9 { uy } else { uz };
|
||
let projected = up_ref - new_eye * up_ref.dot(new_eye);
|
||
let new_up = projected.normalize_or(uy);
|
||
let new_right = new_up.cross(new_eye).normalize();
|
||
let mat = glam::Mat3::from_cols(new_right, new_up, new_eye);
|
||
self.rotation = Quat::from_mat3(&mat).normalize();
|
||
self.sync_yaw_pitch();
|
||
}
|
||
|
||
/// Jump to the default "home" view — a canonical top-down view (north up),
|
||
/// expressed in the active UCS. Doubles as a "reset" for a twisted view.
|
||
pub fn home_view(&mut self, ucs: glam::Mat4) {
|
||
let dir = ucs.transform_vector3(Vec3::Z);
|
||
self.snap_to_face(dir, ucs);
|
||
}
|
||
|
||
/// Roll the camera about its own view axis by `angle` radians. The gaze
|
||
/// direction is unchanged; only the up-sense twists.
|
||
pub fn roll_by(&mut self, angle: f32) {
|
||
self.rotation = (self.rotation * Quat::from_rotation_z(angle)).normalize();
|
||
self.sync_yaw_pitch();
|
||
}
|
||
|
||
/// Tip / spin the view 90° about a screen axis. `horizontal = false` tips
|
||
/// up/down (rotation about the camera's right axis); `true` spins
|
||
/// left/right (about the camera's up axis).
|
||
pub fn nudge_90(&mut self, horizontal: bool, positive: bool) {
|
||
let axis = if horizontal {
|
||
self.rotation * Vec3::Y
|
||
} else {
|
||
self.rotation * Vec3::X
|
||
};
|
||
let ang = if positive {
|
||
std::f32::consts::FRAC_PI_2
|
||
} else {
|
||
-std::f32::consts::FRAC_PI_2
|
||
};
|
||
let delta = Quat::from_axis_angle(axis, ang);
|
||
self.rotation = (delta * self.rotation).normalize();
|
||
self.sync_yaw_pitch();
|
||
}
|
||
|
||
// ── Internal helpers ───────────────────────────────────────────────────
|
||
|
||
/// Derive yaw and pitch from the current quaternion for the ViewCube
|
||
/// hit-test functions (hit_test / hover_id). These use yaw/pitch to
|
||
/// compute the same rotation matrix as the shader, so they must match.
|
||
fn sync_yaw_pitch(&mut self) {
|
||
// Eye direction in world space (canonical eye dir is +Z).
|
||
let eye_dir = self.rotation * Vec3::Z;
|
||
// pitch: angle above/below the XY plane.
|
||
self.pitch = eye_dir.z.clamp(-0.999, 0.999).asin();
|
||
// yaw: atan2(x, y) matches from_rotation_z(yaw) used in view_rotation_mat.
|
||
self.yaw = eye_dir.x.atan2(eye_dir.y);
|
||
}
|
||
}
|
||
|
||
// ── Free helpers ───────────────────────────────────────────────────────────
|
||
|
||
/// Build a rotation quaternion from yaw (rotation around Z) and pitch
|
||
/// (tilt toward Z). Matches the coordinate convention of the ViewCube
|
||
/// so snap angles continue to work unchanged.
|
||
///
|
||
/// Convention (Z-up, Y-forward):
|
||
/// yaw = 0 → camera looks along +Y axis (front view)
|
||
/// pitch = PI/2 → camera looks down -Z (top view)
|
||
/// pitch = 0 → camera in the XY plane
|
||
/// Build a rotation quaternion from yaw, pitch and roll.
|
||
/// Positive yaw rotates the view direction clockwise when seen from above (Z-up).
|
||
/// Roll rotates the camera around its own view axis (post-multiplied so it
|
||
/// composes after the yaw/pitch gaze direction is set).
|
||
pub fn yaw_pitch_to_quat(yaw: f32, pitch: f32, roll: f32) -> Quat {
|
||
// +yaw so ViewCube faces match camera direction (FRONT at yaw=0 = +Y world axis).
|
||
let q_yaw = Quat::from_rotation_z(yaw);
|
||
let q_pitch = Quat::from_rotation_x(std::f32::consts::FRAC_PI_2 - pitch);
|
||
let q_roll = Quat::from_rotation_z(roll);
|
||
(q_yaw * q_pitch * q_roll).normalize()
|
||
}
|