Parsing more stuff.

ray-tracing-core/src/affine_transform.rs

@@ -9,6 +9,11 @@ pub struct AffineTransform {
 }
 
 impl AffineTransform {
+    pub fn new(mat: [[Float; 4]; 3]) -> Option<Self> {
+        let inv = Self::invert(mat)?;
+        Some(Self { mat, inv })
+    }
+
     pub fn identity() -> Self {
         Self {
             mat: [
@@ -77,7 +82,7 @@ impl AffineTransform {
         }
     }
 
-    pub fn look_at(pos: Pos3, look: Pos3, up: Dir3) -> Self {
+    pub fn look_at(pos: Pos3, look: Pos3, up: Dir3) -> Option<Self> {
         let dir = (look - pos).normalize();
         let right = Dir3::cross(up.normalize(), dir).normalize();
         let new_up = Dir3::cross(dir, right);
@@ -88,14 +93,55 @@ impl AffineTransform {
             [right.z(), new_up.z(), dir.z(), pos.z()],
         ];
 
-        let inv = Self::invert(mat);
+        Self::new(mat)
-
-        Self { mat, inv }
     }
 
-    fn invert(mat: [[Float; 4]; 3]) -> [[Float; 3]; 3] {
+    fn invert(mat: [[Float; 4]; 3]) -> Option<[[Float; 3]; 3]> {
-        eprintln!("Matrix inversion not implemented");
+        // using cramers rule
-        [[0.0; 3]; 3]
+        let adj = |y, x| {
+            let cofactor_indices = |p| match p {
+                0 => (1, 2),
+                1 => (0, 2),
+                2 => (0, 1),
+                _ => unreachable!(),
+            };
+            let (y1, y2) = cofactor_indices(y);
+            let (x1, x2) = cofactor_indices(x);
+
+            (if (x + y) % 2 == 0 { 1.0 } else { -1.0 })
+                * (mat[y1][x1] * mat[y2][x2] - mat[y1][x2] * mat[y2][x1])
+        };
+
+        let det = mat[0][0] * mat[1][1] * mat[2][2]
+            + mat[0][1] * mat[1][2] * mat[2][0]
+            + mat[0][2] * mat[1][0] * mat[2][1]
+            - mat[0][2] * mat[1][1] * mat[2][0]
+            - mat[0][1] * mat[1][0] * mat[2][2]
+            - mat[0][0] * mat[1][2] * mat[2][1];
+
+        if det != 0.0 {
+            let det_frac = 1.0 / det;
+
+            Some([
+                [
+                    adj(0, 0) * det_frac,
+                    adj(1, 0) * det_frac,
+                    adj(2, 0) * det_frac,
+                ],
+                [
+                    adj(0, 1) * det_frac,
+                    adj(1, 1) * det_frac,
+                    adj(2, 1) * det_frac,
+                ],
+                [
+                    adj(0, 2) * det_frac,
+                    adj(1, 2) * det_frac,
+                    adj(2, 2) * det_frac,
+                ],
+            ])
+        } else {
+            None
+        }
     }
 
     pub fn transform_pos(&self, pos: Pos3) -> Pos3 {

ray-tracing-pbrt-scene/examples/pbrt-test.rs

@@ -10,7 +10,9 @@ struct Args {
 fn main() -> Result<(), miette::Error> {
     let args = Args::parse();
 
-    dbg!(parse_pbrt_v4(args.filename)?);
+    let t = parse_pbrt_v4(args.filename)?;
+
+    // dbg!(t);
 
     Ok(())
 }

ray-tracing-pbrt-scene/src/lib.rs

@@ -119,6 +119,7 @@ enum Statement {
     ConcatTransform(AffineTransform),
     Shape(ShapeType),
     Unknown(String, Vec<String>),
+    Transform(AffineTransform),
 }
 
 fn parse_look_at(iter: &mut impl Iterator<Item = Result<String>>) -> Result<Statement> {
@@ -165,9 +166,10 @@ fn parse_look_at(iter: &mut impl Iterator<Item = Result<String>>) -> Result<Stat
             .into_diagnostic()?,
     );
 
-    Ok(Statement::ConcatTransform(AffineTransform::look_at(
+    Ok(Statement::ConcatTransform(
-        eye, look_at, up,
+        AffineTransform::look_at(eye, look_at, up)
-    )))
+            .ok_or(miette!("Unable to calculate inverse of matrix"))?,
+    ))
 }
 
 fn parse_parameter<I, T>(iter: &mut Peekable<Tokenizer<I>>) -> Result<T>
@@ -383,7 +385,7 @@ fn parse_shape<I: Iterator<Item = Result<char>>>(
                     "\"normal N\"" => {
                         parse_list_3(iter, &mut n, Dir3::new)?;
                     }
-                    "\"vector N\"" => {
+                    "\"vector S\"" => {
                         parse_list_3(iter, &mut s, Dir3::new)?;
                     }
                     "\"point2 uv\"" => {
@@ -427,8 +429,9 @@ fn parse_shape<I: Iterator<Item = Result<char>>>(
             }))
         }
         "\"bilinearmesh\"" => {
+            let mut indices = Vec::new();
             let mut p = Vec::new();
-
+            let mut n = Vec::new();
             let mut uv = Vec::new();
 
             while let Some(q) = iter
@@ -436,21 +439,50 @@ fn parse_shape<I: Iterator<Item = Result<char>>>(
                 .transpose()?
             {
                 match q.as_str() {
+                    "\"integer indices\"" => {
+                        parse_list(iter, &mut indices)?;
+                    }
                     "\"point3 P\"" => {
                         parse_list_3(iter, &mut p, Pos3::new)?;
                     }
                     "\"point2 uv\"" => {
                         parse_list_2(iter, &mut uv, |u, v| [u, v])?;
                     }
+                    "\"vector N\"" => {
+                        parse_list_3(iter, &mut n, Dir3::new)?;
+                    }
                     _ => {
                         bail!("unknown argument {}", q)
                     }
                 }
             }
 
+            if p.len() < 4 {
+                bail!("At least 3 points required.")
+            }
+            if indices.is_empty() && p.len() != 4 {
+                bail!("Indices required for trianglemesh with more than 3 points.")
+            }
+
+            if indices.len() % 4 != 0 {
+                bail!(
+                    "number of indices must be divisible by 4. num indices: {}",
+                    indices.len()
+                )
+            }
+
+            if !n.is_empty() && n.len() != p.len() {
+                bail!("Number of normals not equal to number of positions.")
+            }
+
+            if !uv.is_empty() && uv.len() != p.len() {
+                bail!("Number of uvs not equal to number of positions.")
+            }
             Ok(Statement::Shape(ShapeType::BilinearMesh {
-                p: [p[0], p[1], p[2], p[3]],
+                indices,
-                uv: [uv[0], uv[1], uv[2], uv[3]],
+                p,
+                n,
+                uv,
             }))
         }
 
@@ -494,6 +526,34 @@ fn parse_shape<I: Iterator<Item = Result<char>>>(
                 p,
             }))
         }
+        "\"disk\"" => {
+            let mut height = 0.0;
+            let mut radius = 1.0;
+            let mut innerradius = 0.0;
+            let mut phimax = 360.0;
+
+            while let Some(q) = iter
+                .next_if(|p| p.as_ref().is_ok_and(|p| p.starts_with('"')))
+                .transpose()?
+            {
+                match q.as_str() {
+                    "\"float height\"" => height = parse_parameter(iter)?,
+                    "\"float radius\"" => radius = parse_parameter(iter)?,
+                    "\"float innerradius\"" => innerradius = parse_parameter(iter)?,
+                    "\"float phimax\"" => phimax = parse_parameter(iter)?,
+                    _ => {
+                        bail!("unknown argument {}", q)
+                    }
+                }
+            }
+
+            Ok(Statement::Shape(ShapeType::Disk {
+                height,
+                radius,
+                innerradius,
+                phimax,
+            }))
+        }
         _ => Err(miette!("Unknown shape {}", shape_type)),
     }
 }
@@ -517,7 +577,16 @@ impl<I: Iterator<Item = Result<char>>> Lexer<I> {
                 }
                 "LookAt" => Some(parse_look_at(&mut self.input)),
                 "Identity" => Some(Ok(Statement::ConcatTransform(AffineTransform::identity()))),
+                "Translate" => Some(parse_translate(&mut self.input)),
+                "Scale" => Some(parse_scale(&mut self.input)),
                 "Shape" => Some(parse_shape(&mut self.input)),
+                "Rotate" => Some(parse_rotate(&mut self.input)),
+                "Transform" => {
+                    Some(parse_transform(&mut self.input).map(|a| Statement::Transform(a)))
+                }
+                "ConcatTransform" => {
+                    Some(parse_transform(&mut self.input).map(|a| Statement::ConcatTransform(a)))
+                }
                 _ => {
                     if s.chars().any(|c| !c.is_ascii_alphabetic()) {
                         Some(Err(miette!("malformed identifier")))
@@ -544,6 +613,114 @@ impl<I: Iterator<Item = Result<char>>> Lexer<I> {
     }
 }
 
+fn parse_transform<I: Iterator<Item = Result<char>>>(
+    input: &mut Peekable<Tokenizer<I>>,
+) -> Result<AffineTransform> {
+    if !input
+        .next()
+        .is_none_or(|p| p.is_ok_and(|p| p.as_str() == "["))
+    {
+        bail!("expected list.")
+    }
+
+    let mut v = [0.0; 16];
+
+    for i in 0..16 {
+        v[i] = input
+            .next()
+            .ok_or(miette!("value expected"))??
+            .parse::<Float>()
+            .into_diagnostic()?;
+    }
+
+    if !input
+        .next()
+        .is_none_or(|p| p.is_ok_and(|p| p.as_str() == "]"))
+    {
+        bail!("expected list end.")
+    }
+
+    if v[3] != 0.0 || v[7] != 0.0 || v[11] != 0.0 || v[15] != 1.0 {
+        bail!("invalid transform entry")
+    }
+
+    Ok(AffineTransform::new([
+        [v[0], v[4], v[8], v[12]],
+        [v[1], v[5], v[9], v[13]],
+        [v[2], v[6], v[10], v[14]],
+    ])
+    .ok_or(miette!("Unable to invert transformation"))?)
+}
+
+fn parse_translate<I: Iterator<Item = Result<char>>>(
+    iter: &mut Peekable<Tokenizer<I>>,
+) -> Result<Statement> {
+    let pos = Pos3::new(
+        iter.next()
+            .ok_or(miette!("missing argument"))??
+            .parse()
+            .into_diagnostic()?,
+        iter.next()
+            .ok_or(miette!("missing argument"))??
+            .parse()
+            .into_diagnostic()?,
+        iter.next()
+            .ok_or(miette!("missing argument"))??
+            .parse()
+            .into_diagnostic()?,
+    );
+
+    Ok(Statement::ConcatTransform(AffineTransform::translation(
+        pos,
+    )))
+}
+
+fn parse_scale<I: Iterator<Item = Result<char>>>(
+    iter: &mut Peekable<Tokenizer<I>>,
+) -> Result<Statement> {
+    Ok(Statement::ConcatTransform(AffineTransform::scale(
+        iter.next()
+            .ok_or(miette!("missing argument"))??
+            .parse()
+            .into_diagnostic()?,
+        iter.next()
+            .ok_or(miette!("missing argument"))??
+            .parse()
+            .into_diagnostic()?,
+        iter.next()
+            .ok_or(miette!("missing argument"))??
+            .parse()
+            .into_diagnostic()?,
+    )))
+}
+
+fn parse_rotate<I: Iterator<Item = Result<char>>>(
+    iter: &mut Peekable<Tokenizer<I>>,
+) -> Result<Statement> {
+    let angle = iter
+        .next()
+        .ok_or(miette!("missing argument"))??
+        .parse()
+        .into_diagnostic()?;
+    let dir = Dir3::new(
+        iter.next()
+            .ok_or(miette!("missing argument"))??
+            .parse()
+            .into_diagnostic()?,
+        iter.next()
+            .ok_or(miette!("missing argument"))??
+            .parse()
+            .into_diagnostic()?,
+        iter.next()
+            .ok_or(miette!("missing argument"))??
+            .parse()
+            .into_diagnostic()?,
+    );
+
+    Ok(Statement::ConcatTransform(AffineTransform::rotation(
+        angle, dir,
+    )))
+}
 struct BytesToChar<I> {
     iter: I,
 }
@@ -623,14 +800,22 @@ enum ShapeType {
         uv: Vec<[Float; 2]>,
     },
     BilinearMesh {
-        p: [Pos3; 4],
+        indices: Vec<usize>,
-        uv: [[Float; 2]; 4],
+        p: Vec<Pos3>,
+        n: Vec<Dir3>,
+        uv: Vec<[Float; 2]>,
     },
     LoopSubDiv {
         levels: u32,
         indices: Vec<usize>,
         p: Vec<Pos3>,
     },
+    Disk {
+        height: f64,
+        radius: f64,
+        innerradius: f64,
+        phimax: f64,
+    },
 }
 
 #[derive(Debug)]
@@ -698,6 +883,9 @@ fn inner_parse_pbrt(
             Statement::ConcatTransform(affine_transform) => {
                 context.last_mut().ok_or(miette!(""))?.ctm *= affine_transform
             }
+            Statement::Transform(affine_transform) => {
+                context.last_mut().ok_or(miette!(""))?.ctm = dbg!(affine_transform)
+            }
             Statement::Shape(shape_type) => {
                 pbrt.scene.shapes.push(Shape {
                     ctm: context.last().unwrap().ctm,