reworked transform serialization

amethyst_animation/Cargo.toml

@@ -26,6 +26,7 @@ fnv = "1"
 hibitset = { version = "0.5.1", features = ["parallel"] }
 itertools = "0.7.8"
 log = "0.4"
+num-traits = "0.2"
 minterpolate = { version = "0.4", features = ["serde"] }
 serde = { version = "1.0", features = ["derive"] }
 

amethyst_animation/src/lib.rs

@@ -61,6 +61,7 @@ extern crate itertools;
 #[macro_use]
 extern crate log;
 extern crate minterpolate;
+extern crate num_traits;
 #[macro_use]
 extern crate serde;
 

amethyst_animation/src/skinning/resources.rs

@@ -2,7 +2,7 @@ use hibitset::BitSet;
 
 use amethyst_assets::{PrefabData, PrefabError, ProgressCounter};
 use amethyst_core::{
-    cgmath::{Matrix4, SquareMatrix},
+    nalgebra::Matrix4,
     specs::prelude::{Component, DenseVecStorage, Entity, WriteStorage},
 };
 use amethyst_renderer::JointTransformsPrefab;

amethyst_animation/src/skinning/systems.rs

@@ -1,5 +1,4 @@
 use amethyst_core::{
-    cgmath::SquareMatrix,
     specs::prelude::{
         BitSet, InsertedFlag, Join, ModifiedFlag, ReadStorage, ReaderId, Resources, System,
         WriteStorage,
@@ -96,7 +95,7 @@ impl<'a> System<'a> for VertexSkinningSystem {
             // update the joint matrices in all referenced mesh entities
             for (_, mesh_global, matrix) in (&skin.meshes, &global_transforms, &mut matrices).join()
             {
-                if let Some(global_inverse) = mesh_global.0.invert() {
+                if let Some(global_inverse) = mesh_global.0.try_inverse() {
                     matrix.matrices.clear();
                     matrix
                         .matrices
@@ -110,7 +109,7 @@ impl<'a> System<'a> for VertexSkinningSystem {
         for (_, mesh_global, mut joint_transform) in
             (&self.updated, &global_transforms, &mut matrices).join()
         {
-            if let Some(global_inverse) = mesh_global.0.invert() {
+            if let Some(global_inverse) = mesh_global.0.try_inverse() {
                 let skin = skins.get(joint_transform.skin).unwrap();
                 joint_transform.matrices.clear();
                 joint_transform

amethyst_animation/src/transform.rs

@@ -1,5 +1,5 @@
 use amethyst_core::{
-    cgmath::{InnerSpace, Quaternion, Vector3},
+    nalgebra::{Quaternion, Unit, Vector3},
     Transform,
 };
 
@@ -33,8 +33,10 @@ impl AnimationSampling for Transform {
         use self::TransformChannel::*;
 
         match (channel, *data) {
-            (&Translation, Vec3(ref d)) => self.translation = Vector3::from(*d),
-            (&Rotation, Vec4(ref d)) => self.rotation = Quaternion::from(*d).normalize(),
+            (&Translation, Vec3(ref d)) => *self.translation_mut() = Vector3::from(*d),
+            (&Rotation, Vec4(ref d)) => {
+                *self.rotation_mut() = Unit::new_normalize(Quaternion::new(d[0], d[1], d[2], d[3]))
+            }
             (&Scale, Vec3(ref d)) => self.scale = Vector3::from(*d),
             _ => panic!("Attempt to apply invalid sample to Transform"),
         }
@@ -43,8 +45,11 @@ impl AnimationSampling for Transform {
     fn current_sample(&self, channel: &Self::Channel, _: &()) -> SamplerPrimitive<f32> {
         use self::TransformChannel::*;
         match channel {
-            Translation => SamplerPrimitive::Vec3(self.translation.into()),
-            Rotation => SamplerPrimitive::Vec4(self.rotation.into()),
+            Translation => SamplerPrimitive::Vec3((*self.translation()).into()),
+            Rotation => SamplerPrimitive::Vec4({
+                let c = self.rotation().as_ref().coords;
+                [c.w, c.x, c.y, c.z]
+            }),
             Scale => SamplerPrimitive::Vec3(self.scale.into()),
         }
     }

amethyst_animation/src/util.rs

@@ -1,7 +1,8 @@
 use minterpolate::InterpolationPrimitive;
+use num_traits::cast::{NumCast, ToPrimitive};
 
 use amethyst_core::{
-    cgmath::{num_traits::NumCast, BaseNum},
+    nalgebra::Real,
     specs::prelude::{Entity, WriteStorage},
 };
 
@@ -35,7 +36,7 @@ where
 #[derive(Debug, Clone, Copy, Serialize, Deserialize)]
 pub enum SamplerPrimitive<S>
 where
-    S: BaseNum,
+    S: Real,
 {
     /// A single value
     Scalar(S),
@@ -49,7 +50,7 @@ where
 
 impl<S> From<[S; 2]> for SamplerPrimitive<S>
 where
-    S: BaseNum,
+    S: Real,
 {
     fn from(arr: [S; 2]) -> Self {
         SamplerPrimitive::Vec2(arr)
@@ -58,7 +59,7 @@ where
 
 impl<S> From<[S; 3]> for SamplerPrimitive<S>
 where
-    S: BaseNum,
+    S: Real,
 {
     fn from(arr: [S; 3]) -> Self {
         SamplerPrimitive::Vec3(arr)
@@ -67,7 +68,7 @@ where
 
 impl<S> From<[S; 4]> for SamplerPrimitive<S>
 where
-    S: BaseNum,
+    S: Real,
 {
     fn from(arr: [S; 4]) -> Self {
         SamplerPrimitive::Vec4(arr)
@@ -76,7 +77,7 @@ where
 
 impl<S> InterpolationPrimitive for SamplerPrimitive<S>
 where
-    S: BaseNum,
+    S: Real + ToPrimitive + NumCast,
 {
     fn add(&self, other: &Self) -> Self {
         match (*self, *other) {
@@ -155,7 +156,7 @@ where
 
 fn mul_f32<T>(s: T, scalar: f32) -> T
 where
-    T: BaseNum,
+    T: Real + ToPrimitive + NumCast,
 {
     NumCast::from(s.to_f32().unwrap() * scalar).unwrap()
 }

amethyst_audio/src/components/audio_listener.rs

@@ -1,5 +1,5 @@
 use amethyst_core::{
-    cgmath::Point3,
+    nalgebra::Vector3,
     specs::{prelude::Component, storage::HashMapStorage},
 };
 
@@ -11,9 +11,9 @@ pub struct AudioListener {
     /// Output used by this listener to emit sounds to
     pub output: Output,
     /// Position of the left ear relative to the global transform on this entity.
-    pub left_ear: Point3<f32>,
+    pub left_ear: Vector3<f32>,
     /// Position of the right ear relative to the global transform on this entity.
-    pub right_ear: Point3<f32>,
+    pub right_ear: Vector3<f32>,
 }
 
 impl Component for AudioListener {

amethyst_audio/src/components/mod.rs

@@ -4,7 +4,7 @@ pub use self::{audio_emitter::AudioEmitter, audio_listener::AudioListener};
 
 use amethyst_assets::{PrefabData, PrefabError};
 use amethyst_core::{
-    cgmath::Point3,
+    nalgebra::Vector3,
     specs::prelude::{Entity, Read, WriteStorage},
 };
 
@@ -20,7 +20,7 @@ mod audio_listener;
 pub struct AudioPrefab {
     emitter: bool,
     /// Left, Right
-    listener: Option<(Point3<f32>, Point3<f32>)>,
+    listener: Option<(Vector3<f32>, Vector3<f32>)>,
 }
 
 impl<'a> PrefabData<'a> for AudioPrefab {

amethyst_audio/src/systems/audio.rs

@@ -10,7 +10,6 @@ use std::{
 use rodio::SpatialSink;
 
 use amethyst_core::{
-    cgmath::Transform,
     specs::prelude::{Entities, Entity, Join, Read, ReadStorage, System, WriteStorage},
     transform::GlobalTransform,
 };
@@ -62,23 +61,20 @@ impl<'a> System<'a> for AudioSystem {
                 .and_then(|sl| transform.get(sl.0))
                 .or_else(|| transform.get(entity))
             {
-                let listener_transform = listener_transform.0;
-                let left_ear_position =
-                    listener_transform.transform_point(listener.left_ear).into();
-                let right_ear_position = listener_transform
-                    .transform_point(listener.right_ear)
-                    .into();
+                let listener_transform = listener_transform.0.column(3).xyz();
+                let left_ear_position = listener_transform + listener.left_ear;
+                let right_ear_position = listener_transform + listener.right_ear;
                 for (transform, mut audio_emitter) in (&transform, &mut audio_emitter).join() {
-                    let x = transform.0[3][0];
-                    let y = transform.0[3][1];
-                    let z = transform.0[3][2];
+                    let x = transform.0[(0, 3)];
+                    let y = transform.0[(1, 3)];
+                    let z = transform.0[(2, 3)];
                     let emitter_position = [x, y, z];
                     // Remove all sinks whose sounds have ended.
                     audio_emitter.sinks.retain(|s| !s.1.load(Ordering::Relaxed));
                     for &mut (ref mut sink, _) in &mut audio_emitter.sinks {
                         sink.set_emitter_position(emitter_position);
-                        sink.set_left_ear_position(left_ear_position);
-                        sink.set_right_ear_position(right_ear_position);
+                        sink.set_left_ear_position(left_ear_position.into());
+                        sink.set_right_ear_position(right_ear_position.into());
                     }
                     if audio_emitter.sinks.is_empty() {
                         if let Some(mut picker) = replace(&mut audio_emitter.picker, None) {
@@ -91,8 +87,8 @@ impl<'a> System<'a> for AudioSystem {
                         let sink = SpatialSink::new(
                             &listener.output.device,
                             emitter_position,
-                            left_ear_position,
-                            right_ear_position,
+                            left_ear_position.into(),
+                            right_ear_position.into(),
                         );
                         let atomic_bool = Arc::new(AtomicBool::new(false));
                         let clone = atomic_bool.clone();

amethyst_controls/src/systems.rs

@@ -3,7 +3,7 @@ use std::{hash::Hash, marker::PhantomData};
 use winit::{DeviceEvent, Event, WindowEvent};
 
 use amethyst_core::{
-    cgmath::{Deg, Vector3},
+    nalgebra::{Unit, Vector3},
     shrev::{EventChannel, ReaderId},
     specs::prelude::{Join, Read, ReadStorage, Resources, System, Write, WriteStorage},
     timing::Time,
@@ -70,10 +70,10 @@ where
         let y = get_input_axis_simple(&self.up_input_axis, &input);
         let z = get_input_axis_simple(&self.forward_input_axis, &input);
 
-        let dir = Vector3::new(x, y, z);
-
-        for (transform, _) in (&mut transform, &tag).join() {
-            transform.move_along_local(dir, time.delta_seconds() * self.speed);
+        if let Some(dir) = Unit::try_new(Vector3::new(x, y, z), 1.0e-6) {
+            for (transform, _) in (&mut transform, &tag).join() {
+                transform.move_along_local(dir, time.delta_seconds() * self.speed);
+            }
         }
     }
 }
@@ -95,14 +95,14 @@ impl<'a> System<'a> for ArcBallRotationSystem {
     fn run(&mut self, (mut transforms, tags): Self::SystemData) {
         let mut position = None;
         for (transform, arc_ball_camera_tag) in (&transforms, &tags).join() {
-            let pos_vec = transform.rotation * -Vector3::unit_z() * arc_ball_camera_tag.distance;
+            let pos_vec = transform.rotation() * -Vector3::z() * arc_ball_camera_tag.distance;
             if let Some(target_transform) = transforms.get(arc_ball_camera_tag.target) {
-                position = Some(target_transform.translation - pos_vec);
+                position = Some(target_transform.translation() - pos_vec);
             }
         }
         if let Some(new_pos) = position {
             for (transform, _) in (&mut transforms, &tags).join() {
-                transform.translation = new_pos;
+                *transform.translation_mut() = new_pos;
             }
         }
     }
@@ -155,8 +155,9 @@ where
                 if let Event::DeviceEvent { ref event, .. } = *event {
                     if let DeviceEvent::MouseMotion { delta: (x, y) } = *event {
                         for (transform, _) in (&mut transform, &tag).join() {
-                            transform.pitch_local(Deg((-1.0) * y as f32 * self.sensitivity_y));
-                            transform.yaw_global(Deg((-1.0) * x as f32 * self.sensitivity_x));
+                            use std::f32::consts::PI;
+                            transform.pitch_local(-y as f32 * self.sensitivity_y * PI / 180.0);
+                            transform.yaw_global(-x as f32 * self.sensitivity_x * PI / 180.0);
                         }
                     }
                 }

amethyst_core/Cargo.toml

@@ -15,7 +15,9 @@ appveyor = { repository = "amethyst/amethyst" }
 travis-ci = { repository = "amethyst/amethyst" }
 
 [dependencies]
-cgmath = { version = "0.16", features = ["serde", "mint"] }
+nalgebra = { version = "0.16.7", features = ["serde-serialize", "mint"] }
+approx = "0.3"
+nalgebra-glm = "0.2"
 error-chain = "0.12"
 fnv = "1"
 hibitset = { version = "0.5.2", features = ["parallel"] }
@@ -31,6 +33,7 @@ thread_profiler = { version = "0.3" , optional = true }
 
 [dev-dependencies]
 amethyst = { path = "..", version = "0.9.0" }
+serde_test = "1"
 
 [features]
 profiler = [ "thread_profiler/thread_profiler" ]

amethyst_core/src/lib.rs

@@ -2,8 +2,8 @@
 
 #![warn(missing_docs)]
 
-#[macro_use]
-pub extern crate cgmath;
+pub extern crate nalgebra;
+pub extern crate nalgebra_glm;
 pub extern crate shred;
 pub extern crate shrev;
 pub extern crate specs;
@@ -22,6 +22,9 @@ extern crate specs_hierarchy;
 #[cfg(feature = "profiler")]
 extern crate thread_profiler;
 
+#[cfg(test)]
+extern crate serde_test;
+
 #[cfg(all(target_os = "emscripten", not(no_threading)))]
 compile_error!("the cfg flag \"no_threading\" is required when building for emscripten");
 

amethyst_core/src/orientation.rs

@@ -1,6 +1,6 @@
 //! Orientation of objects
 
-use cgmath::{Matrix3, Vector3};
+use nalgebra::{Matrix3, Vector3};
 
 /// This struct contains 3 unit vectors pointing in the given directions.
 ///
@@ -22,9 +22,9 @@ impl From<Matrix3<f32>> for Orientation {
     /// Reverses the z axis matching the GL coordinate system.
     fn from(mat: Matrix3<f32>) -> Self {
         Orientation {
-            forward: -mat.z,
-            right: mat.x,
-            up: mat.y,
+            forward: -mat.column(0),
+            right: mat.column(1).into(),
+            up: mat.column(2).into(),
         }
     }
 }
@@ -33,9 +33,9 @@ impl Default for Orientation {
     fn default() -> Self {
         // Signs depend on coordinate system
         Self {
-            forward: -Vector3::unit_z(),
-            right: Vector3::unit_x(),
-            up: Vector3::unit_y(),
+            forward: -Vector3::z(),
+            right: Vector3::x(),
+            up: Vector3::y(),
         }
     }
 }