forked from glen/dyna3
Vectornaut
817a446fad
This pull request addresses issues #32 and #33 by projecting nudges onto the tangent space of the solution variety using a Euclidean-invariant inner product, which I'm calling the *uniform* inner product. ### Definition of the uniform inner product For spheres and planes, the uniform inner product is defined on the tangent space of the hyperboloid $\langle v, v \rangle = 1$. For points, it's defined on the tangent space of the paraboloid $\langle v, v \rangle = 0,\; \langle v, I_\infty \rangle = 1$. The tangent space of an assembly can be expressed as the direct sum of the tangent spaces of the elements. We extend the uniform inner product to assemblies by declaring the tangent spaces of different elements to be orthogonal. #### For spheres and planes If $v = [x, y, z, b, c]^\top$ is on the hyperboloid $\langle v, v \rangle = 1$, the vectors $$\left[ \begin{array}{c} 2b \\ \cdot \\ \cdot \\ \cdot \\ x \end{array} \right],\;\left[ \begin{array}{c} \cdot \\ 2b \\ \cdot \\ \cdot \\ y \end{array} \right],\;\left[ \begin{array}{c} \cdot \\ \cdot \\ 2b \\ \cdot \\ z \end{array} \right],\;\left[ \begin{array}{l} 2bx \\ 2by \\ 2bz \\ 2b^2 \\ 2bc + 1 \end{array} \right]$$ form a basis for the tangent space of hyperboloid at $v$. We declare this basis to be orthonormal with respect to the uniform inner product. The first three vectors in the basis are unit-speed translations along the coordinate axes. The last vector moves the surface at unit speed along its normal field. For spheres, this increases the radius at unit rate. For planes, this translates the plane parallel to itself at unit speed. This description makes it clear that the uniform inner product is invariant under Euclidean motions. #### For points If $v = [x, y, z, b, c]^\top$ is on the paraboloid $\langle v, v \rangle = 0,\; \langle v, I_\infty \rangle = 1$, the vectors $$\left[ \begin{array}{c} 2b \\ \cdot \\ \cdot \\ \cdot \\ x \end{array} \right],\;\left[ \begin{array}{c} \cdot \\ 2b \\ \cdot \\ \cdot \\ y \end{array} \right],\;\left[ \begin{array}{c} \cdot \\ \cdot \\ 2b \\ \cdot \\ z \end{array} \right]$$ form a basis for the tangent space of paraboloid at $v$. We declare this basis to be orthonormal with respect to the uniform inner product. The meanings of the basis vectors, and the argument that the uniform inner product is Euclidean-invariant, are the same as for spheres and planes. In the engine, we pad the basis with $[0, 0, 0, 0, 1]^\top$ to keep the number of uniform coordinates consistent across element types. ### Confirmation of intended behavior Two new tests confirm that we've corrected the misbehaviors described in issues #32 and #33. Issue | Test ---|--- #32 | `proj_equivar_test` #33 | `tangent_test_kaleidocycle` Co-authored-by: Aaron Fenyes <aaron.fenyes@fareycircles.ooo> Reviewed-on: glen/dyna3#34 Co-authored-by: Vectornaut <vectornaut@nobody@nowhere.net> Co-committed-by: Vectornaut <vectornaut@nobody@nowhere.net>
613 lines
No EOL
24 KiB
Rust
613 lines
No EOL
24 KiB
Rust
use core::array;
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use nalgebra::{DMatrix, DVector, Rotation3, Vector3};
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use sycamore::{prelude::*, motion::create_raf};
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use web_sys::{
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console,
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window,
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Element,
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KeyboardEvent,
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MouseEvent,
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WebGl2RenderingContext,
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WebGlProgram,
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WebGlShader,
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WebGlUniformLocation,
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wasm_bindgen::{JsCast, JsValue}
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};
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use crate::{AppState, assembly::{ElementKey, ElementMotion}};
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fn compile_shader(
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context: &WebGl2RenderingContext,
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shader_type: u32,
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source: &str,
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) -> WebGlShader {
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let shader = context.create_shader(shader_type).unwrap();
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context.shader_source(&shader, source);
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context.compile_shader(&shader);
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shader
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}
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fn get_uniform_array_locations<const N: usize>(
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context: &WebGl2RenderingContext,
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program: &WebGlProgram,
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var_name: &str,
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member_name_opt: Option<&str>
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) -> [Option<WebGlUniformLocation>; N] {
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array::from_fn(|n| {
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let name = match member_name_opt {
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Some(member_name) => format!("{var_name}[{n}].{member_name}"),
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None => format!("{var_name}[{n}]")
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};
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context.get_uniform_location(&program, name.as_str())
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})
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}
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// load the given data into the vertex input of the given name
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fn bind_vertex_attrib(
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context: &WebGl2RenderingContext,
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index: u32,
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size: i32,
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data: &[f32]
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) {
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// create a data buffer and bind it to ARRAY_BUFFER
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let buffer = context.create_buffer().unwrap();
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context.bind_buffer(WebGl2RenderingContext::ARRAY_BUFFER, Some(&buffer));
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// load the given data into the buffer. the function `Float32Array::view`
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// creates a raw view into our module's `WebAssembly.Memory` buffer.
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// allocating more memory will change the buffer, invalidating the view.
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// that means we have to make sure we don't allocate any memory until the
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// view is dropped
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unsafe {
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context.buffer_data_with_array_buffer_view(
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WebGl2RenderingContext::ARRAY_BUFFER,
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&js_sys::Float32Array::view(&data),
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WebGl2RenderingContext::STATIC_DRAW,
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);
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}
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// allow the target attribute to be used
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context.enable_vertex_attrib_array(index);
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// take whatever's bound to ARRAY_BUFFER---here, the data buffer created
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// above---and bind it to the target attribute
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//
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// https://developer.mozilla.org/en-US/docs/Web/API/WebGLRenderingContext/vertexAttribPointer
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//
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context.vertex_attrib_pointer_with_i32(
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index,
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size,
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WebGl2RenderingContext::FLOAT,
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false, // don't normalize
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0, // zero stride
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0, // zero offset
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);
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}
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// the direction in camera space that a mouse event is pointing along
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fn event_dir(event: &MouseEvent) -> Vector3<f64> {
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let target: Element = event.target().unwrap().unchecked_into();
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let rect = target.get_bounding_client_rect();
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let width = rect.width();
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let height = rect.height();
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let shortdim = width.min(height);
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// this constant should be kept synchronized with `inversive.frag`
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const FOCAL_SLOPE: f64 = 0.3;
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Vector3::new(
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FOCAL_SLOPE * (2.0*(f64::from(event.client_x()) - rect.left()) - width) / shortdim,
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FOCAL_SLOPE * (2.0*(rect.bottom() - f64::from(event.client_y())) - height) / shortdim,
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-1.0
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)
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}
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#[component]
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pub fn Display() -> View {
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let state = use_context::<AppState>();
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// canvas
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let display = create_node_ref();
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// viewpoint
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let assembly_to_world = create_signal(DMatrix::<f64>::identity(5, 5));
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// navigation
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let pitch_up = create_signal(0.0);
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let pitch_down = create_signal(0.0);
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let yaw_right = create_signal(0.0);
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let yaw_left = create_signal(0.0);
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let roll_ccw = create_signal(0.0);
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let roll_cw = create_signal(0.0);
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let zoom_in = create_signal(0.0);
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let zoom_out = create_signal(0.0);
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let turntable = create_signal(false); /* BENCHMARKING */
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// manipulation
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let translate_neg_x = create_signal(0.0);
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let translate_pos_x = create_signal(0.0);
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let translate_neg_y = create_signal(0.0);
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let translate_pos_y = create_signal(0.0);
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let translate_neg_z = create_signal(0.0);
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let translate_pos_z = create_signal(0.0);
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let shrink_neg = create_signal(0.0);
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let shrink_pos = create_signal(0.0);
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// change listener
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let scene_changed = create_signal(true);
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create_effect(move || {
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state.assembly.elements.with(|elts| {
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for (_, elt) in elts {
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elt.representation.track();
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}
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});
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state.selection.track();
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scene_changed.set(true);
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});
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/* INSTRUMENTS */
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const SAMPLE_PERIOD: i32 = 60;
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let mut last_sample_time = 0.0;
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let mut frames_since_last_sample = 0;
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let mean_frame_interval = create_signal(0.0);
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let assembly_for_raf = state.assembly.clone();
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on_mount(move || {
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// timing
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let mut last_time = 0.0;
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// viewpoint
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const ROT_SPEED: f64 = 0.4; // in radians per second
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const ZOOM_SPEED: f64 = 0.15; // multiplicative rate per second
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const TURNTABLE_SPEED: f64 = 0.1; /* BENCHMARKING */
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let mut orientation = DMatrix::<f64>::identity(5, 5);
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let mut rotation = DMatrix::<f64>::identity(5, 5);
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let mut location_z: f64 = 5.0;
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// manipulation
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const TRANSLATION_SPEED: f64 = 0.15; // in length units per second
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const SHRINKING_SPEED: f64 = 0.15; // in length units per second
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// display parameters
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const OPACITY: f32 = 0.5; /* SCAFFOLDING */
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const HIGHLIGHT: f32 = 0.2; /* SCAFFOLDING */
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const LAYER_THRESHOLD: i32 = 0; /* DEBUG */
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const DEBUG_MODE: i32 = 0; /* DEBUG */
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/* INSTRUMENTS */
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let performance = window().unwrap().performance().unwrap();
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// get the display canvas
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let canvas = display.get().unchecked_into::<web_sys::HtmlCanvasElement>();
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let ctx = canvas
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.get_context("webgl2")
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.unwrap()
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.unwrap()
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.dyn_into::<WebGl2RenderingContext>()
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.unwrap();
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// compile and attach the vertex and fragment shaders
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let vertex_shader = compile_shader(
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&ctx,
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WebGl2RenderingContext::VERTEX_SHADER,
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include_str!("identity.vert"),
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);
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let fragment_shader = compile_shader(
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&ctx,
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WebGl2RenderingContext::FRAGMENT_SHADER,
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include_str!("inversive.frag"),
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);
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let program = ctx.create_program().unwrap();
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ctx.attach_shader(&program, &vertex_shader);
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ctx.attach_shader(&program, &fragment_shader);
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ctx.link_program(&program);
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let link_status = ctx
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.get_program_parameter(&program, WebGl2RenderingContext::LINK_STATUS)
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.as_bool()
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.unwrap();
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let link_msg = if link_status {
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"Linked successfully"
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} else {
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"Linking failed"
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};
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console::log_1(&JsValue::from(link_msg));
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ctx.use_program(Some(&program));
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/* DEBUG */
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// print the maximum number of vectors that can be passed as
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// uniforms to a fragment shader. the OpenGL ES 3.0 standard
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// requires this maximum to be at least 224, as discussed in the
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// documentation of the GL_MAX_FRAGMENT_UNIFORM_VECTORS parameter
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// here:
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//
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// https://registry.khronos.org/OpenGL-Refpages/es3.0/html/glGet.xhtml
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//
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// there are also other size limits. for example, on Aaron's
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// machine, the the length of a float or genType array seems to be
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// capped at 1024 elements
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console::log_2(
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&ctx.get_parameter(WebGl2RenderingContext::MAX_FRAGMENT_UNIFORM_VECTORS).unwrap(),
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&JsValue::from("uniform vectors available")
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);
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// find indices of vertex attributes and uniforms
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const SPHERE_MAX: usize = 200;
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let position_index = ctx.get_attrib_location(&program, "position") as u32;
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let sphere_cnt_loc = ctx.get_uniform_location(&program, "sphere_cnt");
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let sphere_sp_locs = get_uniform_array_locations::<SPHERE_MAX>(
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&ctx, &program, "sphere_list", Some("sp")
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);
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let sphere_lt_locs = get_uniform_array_locations::<SPHERE_MAX>(
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&ctx, &program, "sphere_list", Some("lt")
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);
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let color_locs = get_uniform_array_locations::<SPHERE_MAX>(
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&ctx, &program, "color_list", None
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);
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let highlight_locs = get_uniform_array_locations::<SPHERE_MAX>(
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&ctx, &program, "highlight_list", None
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);
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let resolution_loc = ctx.get_uniform_location(&program, "resolution");
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let shortdim_loc = ctx.get_uniform_location(&program, "shortdim");
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let opacity_loc = ctx.get_uniform_location(&program, "opacity");
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let layer_threshold_loc = ctx.get_uniform_location(&program, "layer_threshold");
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let debug_mode_loc = ctx.get_uniform_location(&program, "debug_mode");
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// create a vertex array and bind it to the graphics context
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let vertex_array = ctx.create_vertex_array().unwrap();
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ctx.bind_vertex_array(Some(&vertex_array));
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// set the vertex positions
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const VERTEX_CNT: usize = 6;
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let positions: [f32; 3*VERTEX_CNT] = [
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// northwest triangle
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-1.0, -1.0, 0.0,
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-1.0, 1.0, 0.0,
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1.0, 1.0, 0.0,
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// southeast triangle
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-1.0, -1.0, 0.0,
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1.0, 1.0, 0.0,
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1.0, -1.0, 0.0
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];
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bind_vertex_attrib(&ctx, position_index, 3, &positions);
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// set up a repainting routine
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let (_, start_animation_loop, _) = create_raf(move || {
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// get the time step
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let time = performance.now();
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let time_step = 0.001*(time - last_time);
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last_time = time;
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// get the navigation state
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let pitch_up_val = pitch_up.get();
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let pitch_down_val = pitch_down.get();
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let yaw_right_val = yaw_right.get();
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let yaw_left_val = yaw_left.get();
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let roll_ccw_val = roll_ccw.get();
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let roll_cw_val = roll_cw.get();
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let zoom_in_val = zoom_in.get();
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let zoom_out_val = zoom_out.get();
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let turntable_val = turntable.get(); /* BENCHMARKING */
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// get the manipulation state
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let translate_neg_x_val = translate_neg_x.get();
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let translate_pos_x_val = translate_pos_x.get();
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let translate_neg_y_val = translate_neg_y.get();
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let translate_pos_y_val = translate_pos_y.get();
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let translate_neg_z_val = translate_neg_z.get();
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let translate_pos_z_val = translate_pos_z.get();
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let shrink_neg_val = shrink_neg.get();
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let shrink_pos_val = shrink_pos.get();
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// update the assembly's orientation
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let ang_vel = {
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let pitch = pitch_up_val - pitch_down_val;
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let yaw = yaw_right_val - yaw_left_val;
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let roll = roll_ccw_val - roll_cw_val;
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if pitch != 0.0 || yaw != 0.0 || roll != 0.0 {
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ROT_SPEED * Vector3::new(-pitch, yaw, roll).normalize()
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} else {
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Vector3::zeros()
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}
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} /* BENCHMARKING */ + if turntable_val {
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Vector3::new(0.0, TURNTABLE_SPEED, 0.0)
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} else {
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Vector3::zeros()
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};
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let mut rotation_sp = rotation.fixed_view_mut::<3, 3>(0, 0);
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rotation_sp.copy_from(
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Rotation3::from_scaled_axis(time_step * ang_vel).matrix()
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);
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orientation = &rotation * &orientation;
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// update the assembly's location
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let zoom = zoom_out_val - zoom_in_val;
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location_z *= (time_step * ZOOM_SPEED * zoom).exp();
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// manipulate the assembly
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if state.selection.with(|sel| sel.len() == 1) {
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let sel = state.selection.with(
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|sel| *sel.into_iter().next().unwrap()
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);
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let translate_x = translate_pos_x_val - translate_neg_x_val;
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let translate_y = translate_pos_y_val - translate_neg_y_val;
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let translate_z = translate_pos_z_val - translate_neg_z_val;
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let shrink = shrink_pos_val - shrink_neg_val;
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let translating =
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translate_x != 0.0
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|| translate_y != 0.0
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|| translate_z != 0.0;
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if translating || shrink != 0.0 {
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let elt_motion = {
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let u = if translating {
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TRANSLATION_SPEED * Vector3::new(
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translate_x, translate_y, translate_z
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).normalize()
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} else {
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Vector3::zeros()
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};
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time_step * DVector::from_column_slice(
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&[u[0], u[1], u[2], SHRINKING_SPEED * shrink]
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)
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};
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assembly_for_raf.deform(
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vec![
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ElementMotion {
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key: sel,
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velocity: elt_motion.as_view()
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}
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]
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);
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scene_changed.set(true);
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}
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}
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if scene_changed.get() {
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/* INSTRUMENTS */
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// measure mean frame interval
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frames_since_last_sample += 1;
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if frames_since_last_sample >= SAMPLE_PERIOD {
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mean_frame_interval.set((time - last_sample_time) / (SAMPLE_PERIOD as f64));
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last_sample_time = time;
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frames_since_last_sample = 0;
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}
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// find the map from assembly space to world space
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let location = {
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let u = -location_z;
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DMatrix::from_column_slice(5, 5, &[
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1.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0, u,
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0.0, 0.0, 2.0*u, 1.0, u*u,
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0.0, 0.0, 0.0, 0.0, 1.0
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])
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};
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let asm_to_world = &location * &orientation;
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// get the assembly
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let (
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elt_cnt,
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reps_world,
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colors,
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highlights
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) = state.assembly.elements.with(|elts| {
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(
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// number of elements
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elts.len() as i32,
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// representation vectors in world coordinates
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elts.iter().map(
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|(_, elt)| elt.representation.with(|rep| &asm_to_world * rep)
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).collect::<Vec<_>>(),
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// colors
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elts.iter().map(|(key, elt)| {
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if state.selection.with(|sel| sel.contains(&key)) {
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elt.color.map(|ch| 0.2 + 0.8*ch)
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} else {
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elt.color
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}
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}).collect::<Vec<_>>(),
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// highlight levels
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elts.iter().map(|(key, _)| {
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if state.selection.with(|sel| sel.contains(&key)) {
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1.0_f32
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} else {
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HIGHLIGHT
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}
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}).collect::<Vec<_>>()
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)
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});
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// set the resolution
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let width = canvas.width() as f32;
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let height = canvas.height() as f32;
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ctx.uniform2f(resolution_loc.as_ref(), width, height);
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ctx.uniform1f(shortdim_loc.as_ref(), width.min(height));
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// pass the assembly
|
|
ctx.uniform1i(sphere_cnt_loc.as_ref(), elt_cnt);
|
|
for n in 0..reps_world.len() {
|
|
let v = &reps_world[n];
|
|
ctx.uniform3f(
|
|
sphere_sp_locs[n].as_ref(),
|
|
v[0] as f32, v[1] as f32, v[2] as f32
|
|
);
|
|
ctx.uniform2f(
|
|
sphere_lt_locs[n].as_ref(),
|
|
v[3] as f32, v[4] as f32
|
|
);
|
|
ctx.uniform3fv_with_f32_array(
|
|
color_locs[n].as_ref(),
|
|
&colors[n]
|
|
);
|
|
ctx.uniform1f(
|
|
highlight_locs[n].as_ref(),
|
|
highlights[n]
|
|
);
|
|
}
|
|
|
|
// pass the display parameters
|
|
ctx.uniform1f(opacity_loc.as_ref(), OPACITY);
|
|
ctx.uniform1i(layer_threshold_loc.as_ref(), LAYER_THRESHOLD);
|
|
ctx.uniform1i(debug_mode_loc.as_ref(), DEBUG_MODE);
|
|
|
|
// draw the scene
|
|
ctx.draw_arrays(WebGl2RenderingContext::TRIANGLES, 0, VERTEX_CNT as i32);
|
|
|
|
// update the viewpoint
|
|
assembly_to_world.set(asm_to_world);
|
|
|
|
// clear the scene change flag
|
|
scene_changed.set(
|
|
pitch_up_val != 0.0
|
|
|| pitch_down_val != 0.0
|
|
|| yaw_left_val != 0.0
|
|
|| yaw_right_val != 0.0
|
|
|| roll_cw_val != 0.0
|
|
|| roll_ccw_val != 0.0
|
|
|| zoom_in_val != 0.0
|
|
|| zoom_out_val != 0.0
|
|
|| turntable_val /* BENCHMARKING */
|
|
);
|
|
} else {
|
|
frames_since_last_sample = 0;
|
|
mean_frame_interval.set(-1.0);
|
|
}
|
|
});
|
|
start_animation_loop();
|
|
});
|
|
|
|
let set_nav_signal = move |event: &KeyboardEvent, value: f64| {
|
|
let mut navigating = true;
|
|
let shift = event.shift_key();
|
|
match event.key().as_str() {
|
|
"ArrowUp" if shift => zoom_in.set(value),
|
|
"ArrowDown" if shift => zoom_out.set(value),
|
|
"ArrowUp" => pitch_up.set(value),
|
|
"ArrowDown" => pitch_down.set(value),
|
|
"ArrowRight" if shift => roll_cw.set(value),
|
|
"ArrowLeft" if shift => roll_ccw.set(value),
|
|
"ArrowRight" => yaw_right.set(value),
|
|
"ArrowLeft" => yaw_left.set(value),
|
|
_ => navigating = false
|
|
};
|
|
if navigating {
|
|
scene_changed.set(true);
|
|
event.prevent_default();
|
|
}
|
|
};
|
|
|
|
let set_manip_signal = move |event: &KeyboardEvent, value: f64| {
|
|
let mut manipulating = true;
|
|
let shift = event.shift_key();
|
|
match event.key().as_str() {
|
|
"d" | "D" => translate_pos_x.set(value),
|
|
"a" | "A" => translate_neg_x.set(value),
|
|
"w" | "W" if shift => translate_neg_z.set(value),
|
|
"s" | "S" if shift => translate_pos_z.set(value),
|
|
"w" | "W" => translate_pos_y.set(value),
|
|
"s" | "S" => translate_neg_y.set(value),
|
|
"]" | "}" => shrink_neg.set(value),
|
|
"[" | "{" => shrink_pos.set(value),
|
|
_ => manipulating = false
|
|
};
|
|
if manipulating {
|
|
event.prevent_default();
|
|
}
|
|
};
|
|
|
|
view! {
|
|
/* TO DO */
|
|
// switch back to integer-valued parameters when that becomes possible
|
|
// again
|
|
canvas(
|
|
ref=display,
|
|
width="600",
|
|
height="600",
|
|
tabindex="0",
|
|
on:keydown=move |event: KeyboardEvent| {
|
|
if event.key() == "Shift" {
|
|
// swap navigation inputs
|
|
roll_cw.set(yaw_right.get());
|
|
roll_ccw.set(yaw_left.get());
|
|
zoom_in.set(pitch_up.get());
|
|
zoom_out.set(pitch_down.get());
|
|
yaw_right.set(0.0);
|
|
yaw_left.set(0.0);
|
|
pitch_up.set(0.0);
|
|
pitch_down.set(0.0);
|
|
|
|
// swap manipulation inputs
|
|
translate_pos_z.set(translate_neg_y.get());
|
|
translate_neg_z.set(translate_pos_y.get());
|
|
translate_pos_y.set(0.0);
|
|
translate_neg_y.set(0.0);
|
|
} else {
|
|
if event.key() == "Enter" { /* BENCHMARKING */
|
|
turntable.set_fn(|turn| !turn);
|
|
scene_changed.set(true);
|
|
}
|
|
set_nav_signal(&event, 1.0);
|
|
set_manip_signal(&event, 1.0);
|
|
}
|
|
},
|
|
on:keyup=move |event: KeyboardEvent| {
|
|
if event.key() == "Shift" {
|
|
// swap navigation inputs
|
|
yaw_right.set(roll_cw.get());
|
|
yaw_left.set(roll_ccw.get());
|
|
pitch_up.set(zoom_in.get());
|
|
pitch_down.set(zoom_out.get());
|
|
roll_cw.set(0.0);
|
|
roll_ccw.set(0.0);
|
|
zoom_in.set(0.0);
|
|
zoom_out.set(0.0);
|
|
|
|
// swap manipulation inputs
|
|
translate_pos_y.set(translate_neg_z.get());
|
|
translate_neg_y.set(translate_pos_z.get());
|
|
translate_pos_z.set(0.0);
|
|
translate_neg_z.set(0.0);
|
|
} else {
|
|
set_nav_signal(&event, 0.0);
|
|
set_manip_signal(&event, 0.0);
|
|
}
|
|
},
|
|
on:blur=move |_| {
|
|
pitch_up.set(0.0);
|
|
pitch_down.set(0.0);
|
|
yaw_right.set(0.0);
|
|
yaw_left.set(0.0);
|
|
roll_ccw.set(0.0);
|
|
roll_cw.set(0.0);
|
|
},
|
|
on:click=move |event: MouseEvent| {
|
|
// find the nearest element along the pointer direction
|
|
let dir = event_dir(&event);
|
|
console::log_1(&JsValue::from(dir.to_string()));
|
|
let mut clicked: Option<(ElementKey, f64)> = None;
|
|
for (key, elt) in state.assembly.elements.get_clone_untracked() {
|
|
match assembly_to_world.with(|asm_to_world| elt.cast(dir, asm_to_world)) {
|
|
Some(depth) => match clicked {
|
|
Some((_, best_depth)) => {
|
|
if depth < best_depth {
|
|
clicked = Some((key, depth))
|
|
}
|
|
},
|
|
None => clicked = Some((key, depth))
|
|
}
|
|
None => ()
|
|
};
|
|
}
|
|
|
|
// if we clicked something, select it
|
|
match clicked {
|
|
Some((key, _)) => state.select(key, event.shift_key()),
|
|
None => state.selection.update(|sel| sel.clear())
|
|
};
|
|
}
|
|
)
|
|
}
|
|
} |