app-proto/inversive-display/src/main.rs

@@ -9,9 +9,17 @@
 
 extern crate js_sys;
 use core::array;
-use nalgebra::{DMatrix, DVector};
+use nalgebra::{DMatrix, DVector, Rotation3, Vector3};
 use sycamore::{prelude::*, motion::create_raf, rt::{JsCast, JsValue}};
-use web_sys::{console, window, WebGl2RenderingContext, WebGlProgram, WebGlShader, WebGlUniformLocation};
+use web_sys::{
+    console,
+    window,
+    KeyboardEvent,
+    WebGl2RenderingContext,
+    WebGlProgram,
+    WebGlShader,
+    WebGlUniformLocation
+};
 
 mod engine;
 
@@ -157,6 +165,12 @@ fn main() {
         // tab selection
         let tab_selection = create_signal(Tab::GenTab);
         
+        // navigation
+        let pitch_up = create_signal(0.0);
+        let pitch_down = create_signal(0.0);
+        let yaw_right = create_signal(0.0);
+        let yaw_left = create_signal(0.0);
+        
         // controls for general example
         let gen_controls = create_node_ref();
         let ctrl_x = create_signal(0.0);
@@ -246,8 +260,21 @@ fn main() {
             let mut last_time = 0.0;
             
             // scene parameters
-            const TURNTABLE_SPEED: f64 = 0.5;
+            const NAV_SPEED: f64 = 0.4; // in radians per second
-            let mut turntable_angle = 0.0;
+            const TURNTABLE_SPEED: f64 = 0.1; // in radians per second
+            let mut orientation = DMatrix::<f64>::identity(5, 5);
+            let mut rotation = DMatrix::<f64>::identity(5, 5);
+            let location = {
+                const LEN: f64 = -5.0;
+                const LEN_SQ: f64 = LEN*LEN;
+                DMatrix::from_column_slice(5, 5, &[
+                    1.0, 0.0,     0.0, 0.0,    0.0,
+                    0.0, 1.0,     0.0, 0.0,    0.0,
+                    0.0, 0.0,     1.0, 0.0,    LEN,
+                    0.0, 0.0, 2.0*LEN, 1.0, LEN_SQ,
+                    0.0, 0.0,     0.0, 0.0,    1.0
+                ])
+            };
             
             /* INSTRUMENTS */
             let performance = window().unwrap().performance().unwrap();
@@ -353,11 +380,36 @@ fn main() {
                 let time_step = 0.001*(time - last_time);
                 last_time = time;
                 
-                // move the turntable
+                // get the navigation state
+                let pitch_up_val = pitch_up.get();
+                let pitch_down_val = pitch_down.get();
+                let yaw_right_val = yaw_right.get();
+                let yaw_left_val = yaw_left.get();
                 let turntable_val = turntable.get();
+                
+                // update the construction's orientation
+                let ang_vel = {
+                    let pitch = pitch_up_val - pitch_down_val;
+                    let yaw = yaw_right_val - yaw_left_val;
+                    let ang_vel_from_keyboard =
+                        if pitch != 0.0 || yaw != 0.0 {
+                            NAV_SPEED * Vector3::new(-pitch, yaw, 0.0).normalize()
+                        } else {
+                            Vector3::zeros()
+                        };
+                    let ang_vel_from_turntable =
                         if turntable_val {
-                    turntable_angle += TURNTABLE_SPEED * time_step;
+                            Vector3::new(0.0, TURNTABLE_SPEED, 0.0)
-                }
+                        } else {
+                            Vector3::zeros()
+                        };
+                    ang_vel_from_keyboard + ang_vel_from_turntable
+                };
+                let mut rotation_sp = rotation.fixed_view_mut::<3, 3>(0, 0);
+                rotation_sp.copy_from(
+                    Rotation3::from_scaled_axis(time_step * ang_vel).matrix()
+                );
+                orientation = &rotation * &orientation;
                 
                 if scene_changed.get() {
                     /* INSTRUMENTS */
@@ -369,30 +421,8 @@ fn main() {
                         frames_since_last_sample = 0;
                     }
                     
-                    // set the orientation and translation
+                    // find the map from construction space to world space
-                    let orientation = {
+                    let construction_to_world = &location * &orientation;
-                        let ang_cos = turntable_angle.cos();
-                        let ang_sin = turntable_angle.sin();
-                        DMatrix::from_column_slice(5, 5, &[
-                             ang_cos, 0.0, ang_sin, 0.0, 0.0,
-                                 0.0, 1.0,     0.0, 0.0, 0.0,
-                            -ang_sin, 0.0, ang_cos, 0.0, 0.0,
-                                 0.0, 0.0,     0.0, 1.0, 0.0,
-                                 0.0, 0.0,     0.0, 0.0, 1.0
-                        ])
-                    };
-                    let translation = {
-                        const LEN: f64 = -5.0;
-                        const LEN_SQ: f64 = LEN*LEN;
-                        DMatrix::from_column_slice(5, 5, &[
-                            1.0, 0.0,     0.0, 0.0,    0.0,
-                            0.0, 1.0,     0.0, 0.0,    0.0,
-                            0.0, 0.0,     1.0, 0.0,    LEN,
-                            0.0, 0.0, 2.0*LEN, 1.0, LEN_SQ,
-                            0.0, 0.0,     0.0, 0.0,    1.0
-                        ])
-                    };
-                    let construction_to_world = &translation * orientation;
                     
                     // update the construction
                     sphere_vec.clear();
@@ -450,7 +480,13 @@ fn main() {
                     ctx.draw_arrays(WebGl2RenderingContext::TRIANGLES, 0, VERTEX_CNT as i32);
                     
                     // clear scene change flag
-                    scene_changed.set(turntable_val);
+                    scene_changed.set(
+                        pitch_up_val != 0.0
+                        || pitch_down_val != 0.0
+                        || yaw_left_val != 0.0
+                        || yaw_right_val != 0.0
+                        || turntable_val
+                    );
                 } else {
                     frames_since_last_sample = 0;
                     mean_frame_interval.set(-1.0);
@@ -482,7 +518,46 @@ fn main() {
                     }
                 }
                 div { "Mean frame interval: " (mean_frame_interval.get()) " ms" }
-                canvas(ref=display, width=600, height=600, tabindex=0)
+                canvas(
+                    ref=display,
+                    width=600,
+                    height=600,
+                    tabindex=0,
+                    on:keydown=move |event: KeyboardEvent| {
+                        let mut navigating = true;
+                        match event.key().as_str() {
+                            "ArrowUp" => pitch_up.set(1.0),
+                            "ArrowDown" => pitch_down.set(1.0),
+                            "ArrowRight" => yaw_right.set(1.0),
+                            "ArrowLeft" => yaw_left.set(1.0),
+                            _ => navigating = false
+                        };
+                        if navigating {
+                            scene_changed.set(true);
+                            event.prevent_default();
+                        }
+                    },
+                    on:keyup=move |event: KeyboardEvent| {
+                        let mut navigating = true;
+                        match event.key().as_str() {
+                            "ArrowUp" => pitch_up.set(0.0),
+                            "ArrowDown" => pitch_down.set(0.0),
+                            "ArrowRight" => yaw_right.set(0.0),
+                            "ArrowLeft" => yaw_left.set(0.0),
+                            _ => navigating = false
+                        };
+                        if navigating {
+                            scene_changed.set(true);
+                            event.prevent_default();
+                        }
+                    },
+                    on:blur=move |_| {
+                        pitch_up.set(0.0);
+                        pitch_down.set(0.0);
+                        yaw_right.set(0.0);
+                        yaw_left.set(0.0);
+                    }
+                )
                 div(ref=gen_controls) {
                     label(class="control") {
                         span { "Sphere 0 depth" }