Add Mat3/Quat look_at and look_to methods, look_to direction must now…

… be normalized. (#551)

codegen/templates/mat.rs.tera

@@ -1659,25 +1659,98 @@ impl {{ self_t }} {
         {{ mat2_t }}::from_cols(self.x_axis.xy(), self.y_axis.xy()) * rhs
     }
 
-{% elif dim == 4 %}
-    /// Creates a left-handed view matrix using a camera position, an up direction, and a facing
+    /// Creates a left-handed view matrix using a facing direction and an up direction.
+    ///
+    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `dir` or `up` are not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn look_to_lh(dir: {{ vec3_t }}, up: {{ vec3_t }}) -> Self {
+        Self::look_to_rh(-dir, up)
+    }
+
+    /// Creates a right-handed view matrix using a facing direction and an up direction.
+    ///
+    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `dir` or `up` are not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn look_to_rh(dir: {{ vec3_t }}, up: {{ vec3_t }}) -> Self {
+        glam_assert!(dir.is_normalized());
+        glam_assert!(up.is_normalized());
+        let f = dir;
+        let s = f.cross(up).normalize();
+        let u = s.cross(f);
+
+        Self::from_cols(
+            {{ col_t }}::new(s.x, u.x, -f.x),
+            {{ col_t }}::new(s.y, u.y, -f.y),
+            {{ col_t }}::new(s.z, u.z, -f.z),
+        )
+    }
+
+    /// Creates a left-handed view matrix using a camera position, a focal point and an up
     /// direction.
     ///
     /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn look_at_lh(eye: {{ vec3_t }}, center: {{ vec3_t }}, up: {{ vec3_t }}) -> Self {
+        Self::look_to_lh(center.sub(eye).normalize(), up)
+    }
+
+    /// Creates a right-handed view matrix using a camera position, a focal point and an up
+    /// direction.
+    ///
+    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    pub fn look_at_rh(eye: {{ vec3_t }}, center: {{ vec3_t }}, up: {{ vec3_t }}) -> Self {
+        Self::look_to_rh(center.sub(eye).normalize(), up)
+    }
+
+{% elif dim == 4 %}
+    /// Creates a left-handed view matrix using a camera position, a facing direction and an up
+    /// direction
+    ///
+    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `dir` or `up` are not normalized when `glam_assert` is enabled.
     #[inline]
     #[must_use]
     pub fn look_to_lh(eye: {{ vec3_t }}, dir: {{ vec3_t }}, up: {{ vec3_t }}) -> Self {
         Self::look_to_rh(eye, -dir, up)
     }
 
-    /// Creates a right-handed view matrix using a camera position, an up direction, and a facing
+    /// Creates a right-handed view matrix using a camera position, a facing direction, and an up
     /// direction.
     ///
     /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `dir` or `up` are not normalized when `glam_assert` is enabled.
     #[inline]
     #[must_use]
     pub fn look_to_rh(eye: {{ vec3_t }}, dir: {{ vec3_t }}, up: {{ vec3_t }}) -> Self {
-        let f = dir.normalize();
+        glam_assert!(dir.is_normalized());
+        glam_assert!(up.is_normalized());
+        let f = dir;
         let s = f.cross(up).normalize();
         let u = s.cross(f);
 
@@ -1689,8 +1762,9 @@ impl {{ self_t }} {
         )
     }
 
-    /// Creates a left-handed view matrix using a camera position, an up direction, and a focal
-    /// point.
+    /// Creates a left-handed view matrix using a camera position, a focal points and an up
+    /// direction.
+    ///
     /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
     ///
     /// # Panics
@@ -1699,21 +1773,20 @@ impl {{ self_t }} {
     #[inline]
     #[must_use]
     pub fn look_at_lh(eye: {{ vec3_t }}, center: {{ vec3_t }}, up: {{ vec3_t }}) -> Self {
-        glam_assert!(up.is_normalized());
-        Self::look_to_lh(eye, center.sub(eye), up)
+        Self::look_to_lh(eye, center.sub(eye).normalize(), up)
     }
 
-    /// Creates a right-handed view matrix using a camera position, an up direction, and a focal
-    /// point.
+    /// Creates a right-handed view matrix using a camera position, a focal point, and an up
+    /// direction.
+    ///
     /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
     ///
     /// # Panics
     ///
     /// Will panic if `up` is not normalized when `glam_assert` is enabled.
     #[inline]
     pub fn look_at_rh(eye: {{ vec3_t }}, center: {{ vec3_t }}, up: {{ vec3_t }}) -> Self {
-        glam_assert!(up.is_normalized());
-        Self::look_to_rh(eye, center.sub(eye), up)
+        Self::look_to_rh(eye, center.sub(eye).normalize(), up)
     }
 
     /// Creates a right-handed perspective projection matrix with `[-1,1]` depth range.

codegen/templates/quat.rs.tera

@@ -517,6 +517,69 @@ impl {{ self_t }} {
         }
     }
 
+    /// Creates a quaterion rotation from a facing direction and an up direction.
+    ///
+    /// For a left-handed view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn look_to_lh(dir: {{ vec3_t }}, up: {{ vec3_t }}) -> Self {
+        Self::look_to_rh(-dir, up)
+    }
+
+    /// Creates a quaterion rotation from facing direction and an up direction.
+    ///
+    /// For a right-handed view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `dir` and `up` are not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn look_to_rh(dir: {{ vec3_t }}, up: {{ vec3_t }}) -> Self {
+        glam_assert!(dir.is_normalized());
+        glam_assert!(up.is_normalized());
+        let f = dir;
+        let s = f.cross(up).normalize();
+        let u = s.cross(f);
+
+        Self::from_rotation_axes(
+            {{ vec3_t }}::new(s.x, u.x, -f.x),
+            {{ vec3_t }}::new(s.y, u.y, -f.y),
+            {{ vec3_t }}::new(s.z, u.z, -f.z),
+        )
+    }
+
+    /// Creates a left-handed view matrix using a camera position, a focal point, and an up
+    /// direction.
+    ///
+    /// For a left-handed view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn look_at_lh(eye: {{ vec3_t }}, center: {{ vec3_t }}, up: {{ vec3_t }}) -> Self {
+        Self::look_to_lh(center.sub(eye).normalize(), up)
+    }
+
+    /// Creates a right-handed view matrix using a camera position, an up direction, and a focal
+    /// point.
+    ///
+    /// For a right-handed view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    pub fn look_at_rh(eye: {{ vec3_t }}, center: {{ vec3_t }}, up: {{ vec3_t }}) -> Self {
+        Self::look_to_rh(center.sub(eye).normalize(), up)
+    }
+
     /// Returns the rotation axis (normalized) and angle (in radians) of `self`.
     #[inline]
     #[must_use]

src/f32/coresimd/mat3a.rs

@@ -618,6 +618,69 @@ impl Mat3A {
         Mat2::from_cols(self.x_axis.xy(), self.y_axis.xy()) * rhs
     }
 
+    /// Creates a left-handed view matrix using a facing direction and an up direction.
+    ///
+    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `dir` or `up` are not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn look_to_lh(dir: Vec3, up: Vec3) -> Self {
+        Self::look_to_rh(-dir, up)
+    }
+
+    /// Creates a right-handed view matrix using a facing direction and an up direction.
+    ///
+    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `dir` or `up` are not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn look_to_rh(dir: Vec3, up: Vec3) -> Self {
+        glam_assert!(dir.is_normalized());
+        glam_assert!(up.is_normalized());
+        let f = dir;
+        let s = f.cross(up).normalize();
+        let u = s.cross(f);
+
+        Self::from_cols(
+            Vec3A::new(s.x, u.x, -f.x),
+            Vec3A::new(s.y, u.y, -f.y),
+            Vec3A::new(s.z, u.z, -f.z),
+        )
+    }
+
+    /// Creates a left-handed view matrix using a camera position, a focal point and an up
+    /// direction.
+    ///
+    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn look_at_lh(eye: Vec3, center: Vec3, up: Vec3) -> Self {
+        Self::look_to_lh(center.sub(eye).normalize(), up)
+    }
+
+    /// Creates a right-handed view matrix using a camera position, a focal point and an up
+    /// direction.
+    ///
+    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    pub fn look_at_rh(eye: Vec3, center: Vec3, up: Vec3) -> Self {
+        Self::look_to_rh(center.sub(eye).normalize(), up)
+    }
+
     /// Transforms a 3D vector.
     #[inline]
     #[must_use]

src/f32/coresimd/mat4.rs

@@ -792,24 +792,34 @@ impl Mat4 {
         }
     }
 
-    /// Creates a left-handed view matrix using a camera position, an up direction, and a facing
-    /// direction.
+    /// Creates a left-handed view matrix using a camera position, a facing direction and an up
+    /// direction
     ///
     /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `dir` or `up` are not normalized when `glam_assert` is enabled.
     #[inline]
     #[must_use]
     pub fn look_to_lh(eye: Vec3, dir: Vec3, up: Vec3) -> Self {
         Self::look_to_rh(eye, -dir, up)
     }
 
-    /// Creates a right-handed view matrix using a camera position, an up direction, and a facing
+    /// Creates a right-handed view matrix using a camera position, a facing direction, and an up
     /// direction.
     ///
     /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `dir` or `up` are not normalized when `glam_assert` is enabled.
     #[inline]
     #[must_use]
     pub fn look_to_rh(eye: Vec3, dir: Vec3, up: Vec3) -> Self {
-        let f = dir.normalize();
+        glam_assert!(dir.is_normalized());
+        glam_assert!(up.is_normalized());
+        let f = dir;
         let s = f.cross(up).normalize();
         let u = s.cross(f);
 
@@ -821,8 +831,9 @@ impl Mat4 {
         )
     }
 
-    /// Creates a left-handed view matrix using a camera position, an up direction, and a focal
-    /// point.
+    /// Creates a left-handed view matrix using a camera position, a focal points and an up
+    /// direction.
+    ///
     /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
     ///
     /// # Panics
@@ -831,21 +842,20 @@ impl Mat4 {
     #[inline]
     #[must_use]
     pub fn look_at_lh(eye: Vec3, center: Vec3, up: Vec3) -> Self {
-        glam_assert!(up.is_normalized());
-        Self::look_to_lh(eye, center.sub(eye), up)
+        Self::look_to_lh(eye, center.sub(eye).normalize(), up)
     }
 
-    /// Creates a right-handed view matrix using a camera position, an up direction, and a focal
-    /// point.
+    /// Creates a right-handed view matrix using a camera position, a focal point, and an up
+    /// direction.
+    ///
     /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
     ///
     /// # Panics
     ///
     /// Will panic if `up` is not normalized when `glam_assert` is enabled.
     #[inline]
     pub fn look_at_rh(eye: Vec3, center: Vec3, up: Vec3) -> Self {
-        glam_assert!(up.is_normalized());
-        Self::look_to_rh(eye, center.sub(eye), up)
+        Self::look_to_rh(eye, center.sub(eye).normalize(), up)
     }
 
     /// Creates a right-handed perspective projection matrix with `[-1,1]` depth range.