forked from 1b-agent/opencadstudio-upstream
Hakan SevenandClaude Sonnet 4.6
20629d587a
- Add `active_ucs: Option<Ucs>` per-tab state to DocumentTab - Add `ucs_to_wcs`, `wcs_to_ucs`, `ucs_z_axis`, `ucs_rotated_z` helpers - Add `Camera::pick_on_plane` for ray–plane intersection against any plane - Mouse picks project onto the active UCS XY plane instead of world XY - Typed coordinates are converted from UCS space to WCS before dispatch - UCS command now really activates/deactivates a UCS: - `UCS W` resets to WCS (clears active_ucs) - `UCS <name>` activates a named UCS - `UCS SAVE <name>` saves the current active UCS - `UCS ORIGIN x,y,z` shifts origin (in current UCS space) - `UCS X/Y/Z <angle>` rotates the UCS around its own axes Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
304 lines
12 KiB
Rust
304 lines
12 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 H7CAD).
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use glam::{vec3, 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.
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pub target: Vec3,
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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: Vec3::ZERO,
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rotation: yaw_pitch_to_quat(yaw, pitch),
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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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pub fn eye(&self) -> Vec3 {
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// The canonical eye direction is +Z (looking at origin from above).
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// The rotation maps that canonical pose to the current orientation.
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let eye_dir = self.rotation * Vec3::Z;
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self.target + eye_dir * self.distance
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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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pub fn view_proj(&self, bounds: Rectangle) -> Mat4 {
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let near = self.distance * 0.001;
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let far = self.distance * 1000.0;
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let aspect = bounds.width / bounds.height;
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// Up vector: use the rotation to find which world direction is "up"
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// in the current camera frame.
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let up_dir = self.rotation * Vec3::Y;
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let view = Mat4::look_at_rh(self.eye(), self.target, up_dir);
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let proj = match self.projection {
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Projection::Perspective => Mat4::perspective_rh(self.fov_y, aspect, near, far),
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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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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 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 intersection of the view ray with the plane;
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/// falls back to `plane_point` when the ray is nearly parallel to the plane.
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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: Vec3,
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) -> 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 inv = self.view_proj(bounds).inverse();
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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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let dir = (far_pt - near_pt).normalize();
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(near_pt, dir)
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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.target - self.eye()).normalize();
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(origin, forward)
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}
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};
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let denom = ray_dir.dot(plane_normal);
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if denom.abs() < 1e-6 {
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return plane_point;
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}
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let t = (plane_point - ray_origin).dot(plane_normal) / denom;
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if t < 0.0 {
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return plane_point;
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}
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ray_origin + ray_dir * t
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}
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pub fn pick_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 inv = self.view_proj(bounds).inverse();
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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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let dir = (far_pt - near_pt).normalize();
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let forward = (self.target - self.eye()).normalize();
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let denom = dir.dot(forward);
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if denom.abs() < 1e-6 {
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return self.target;
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}
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let t = (self.target - near_pt).dot(forward) / denom;
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if t < 0.0 {
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return self.target;
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}
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near_pt + dir * t
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}
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Projection::Orthographic => {
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let ray_origin = inv.project_point3(Vec3::new(ndc_x, ndc_y, 0.0));
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let forward = (self.target - self.eye()).normalize();
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let t = (self.target - ray_origin).dot(forward) / forward.dot(forward);
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ray_origin + forward * t
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}
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}
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}
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pub fn position_vec4(&self) -> glam::Vec4 {
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glam::Vec4::from((self.eye(), 0.0))
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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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// ── 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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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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let before = self.pick_on_target_plane(screen, bounds);
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self.zoom(delta);
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let after = self.pick_on_target_plane(screen, bounds);
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self.target += before - after;
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}
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pub fn pan(&mut self, delta_x: f32, delta_y: f32) {
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let speed = self.distance * 0.001;
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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 * speed;
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self.target += cam_up * delta_y * speed;
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}
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/// Returns the world-space translation that `pan(delta_x, delta_y)` would
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/// apply to the camera target — without actually moving the camera.
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/// Used by MSPACE to pan the viewport's model-space view independently.
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pub fn screen_delta_to_world(&self, delta_x: f32, delta_y: f32, _bounds: Rectangle) -> Vec3 {
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let speed = self.distance * 0.001;
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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 * delta_x * speed) + (cam_up * delta_y * speed)
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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;
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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 canonical yaw+pitch (called by ViewCubeSnap message).
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/// Updates the arcball quaternion to match.
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pub fn snap_to_angles(&mut self, yaw: f32, pitch: f32) {
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self.yaw = yaw;
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self.pitch = pitch;
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self.rotation = yaw_pitch_to_quat(yaw, pitch);
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}
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// ── Internal helpers ───────────────────────────────────────────────────
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/// Derive yaw and pitch from the current quaternion for the ViewCube
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/// hit-test functions (hit_test / hover_id). These use yaw/pitch to
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/// compute the same rotation matrix as the shader, so they must match.
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fn sync_yaw_pitch(&mut self) {
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// Eye direction in world space (canonical eye dir is +Z).
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let eye_dir = self.rotation * Vec3::Z;
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// pitch: angle above/below the XY plane.
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self.pitch = eye_dir.z.clamp(-0.999, 0.999).asin();
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// yaw: atan2(x, y) matches from_rotation_z(yaw) used in view_rotation_mat.
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self.yaw = eye_dir.x.atan2(eye_dir.y);
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}
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}
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// ── Free helpers ───────────────────────────────────────────────────────────
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/// Build a rotation quaternion from yaw (rotation around Z) and pitch
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/// (tilt toward Z). Matches the coordinate convention of the ViewCube
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/// so snap angles continue to work unchanged.
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///
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/// Convention (Z-up, Y-forward):
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/// yaw = 0 → camera looks along +Y axis (front view)
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/// pitch = PI/2 → camera looks down -Z (top view)
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/// pitch = 0 → camera in the XY plane
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/// Build a rotation quaternion from yaw and pitch.
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/// Positive yaw rotates the view direction clockwise when seen from above (Z-up).
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pub fn yaw_pitch_to_quat(yaw: f32, pitch: f32) -> Quat {
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// +yaw so ViewCube faces match camera direction (FRONT at yaw=0 = +Y world axis).
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let q_yaw = Quat::from_rotation_z(yaw);
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let q_pitch = Quat::from_rotation_x(std::f32::consts::FRAC_PI_2 - pitch);
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(q_yaw * q_pitch).normalize()
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}
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