Partially implement block conversion rotation support

Cargo.toml

@@ -30,6 +30,7 @@ libfj_parsable_macro_derive = {version = "0.5.3", optional = true}
 #libfj_parsable_macro_derive = {path = "./parsable_macro_derive", optional = true}
 obj = {version = "^0.10", optional = true}
 genmesh = {version = "^0.6", optional = true}
+cgmath = {version = "^0.18", optional = true}
 
 [dev-dependencies]
 tokio = { version = "1.4.0", features = ["macros"]}
@@ -41,4 +42,4 @@ simple = ["ureq"]
 robocraft = ["reqwest", "ureq"]
 cardlife = ["reqwest"]
 techblox = ["chrono", "highhash", "half", "libfj_parsable_macro_derive"]
-convert = ["obj", "genmesh"]
+convert = ["obj", "genmesh", "cgmath"]

src/convert/robocraft_3d.rs

@@ -1,9 +1,37 @@
 use genmesh::{generators::Cube, Quad, MapToVertices, Vertices, Vertex};
 use obj;
+use cgmath::{Quaternion, Euler, Deg, Vector3};
 use crate::robocraft;
 
 const SCALE: f32 = 0.5;
 
+const ROTATIONS: [Euler<Deg<f32>>; 24] = [
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)}, // 0
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)},
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)}, // 2
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)},
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)}, // 4
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)},
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)}, // 6
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)},
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)}, // 8
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)},
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)}, // 10
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)},
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)}, // 12
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)},
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)}, // 14
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)},
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)}, // 16
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)},
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)}, // 18
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)},
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)}, // 20
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)},
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)}, // 22
+    Euler{x: Deg(0.0), y: Deg(0.0), z: Deg(0.0)}, // 23
+];
+
 /// Convert a Robocraft robot to a 3D model in Wavefront OBJ format.
 pub fn cubes_to_model(robot: robocraft::Cubes) -> obj::Obj {
     cubes_to_model_with_lut(robot, default_model_lut)
@@ -19,15 +47,22 @@ pub fn cubes_to_model_with_lut<F: FnMut(u32) -> Vec<Quad<Vertex>>>(robot: robocr
         // generate simple cube for every block
         // TODO rotate blocks
         let vertices = lut(cube.id); // Use lookup table to find correct id <-> block translation
+        let rotation: Quaternion<_> = ROTATIONS[cube.orientation as usize].into();
         positions.extend::<Vec::<[f32; 3]>>(
             vertices.clone().into_iter().vertex(|v|
-                [(v.pos.x * SCALE) + (cube.x as f32), (v.pos.y * SCALE) + (cube.y as f32), (v.pos.z * SCALE) + (cube.z as f32)])
+                {
+                    let rotated = rotation * Vector3{x: v.pos.x * SCALE, y: v.pos.y * SCALE, z: v.pos.z * SCALE};
+                    [rotated.x + (cube.x as f32), rotated.y + (cube.y as f32), rotated.z + (cube.z as f32)]
+                })
             .vertices()
             .collect()
         );
         normals.extend::<Vec::<[f32; 3]>>(
             vertices.clone().into_iter().vertex(|v|
-                [(v.normal.x * SCALE) + (cube.x as f32), (v.normal.y * SCALE) + (cube.y as f32), (v.normal.z * SCALE) + (cube.z as f32)])
+                {
+                    let rotated = rotation * Vector3{x: v.normal.x * SCALE, y: v.normal.y * SCALE, z: v.normal.z * SCALE};
+                    [rotated.x + (cube.x as f32), rotated.y + (cube.y as f32), rotated.z + (cube.z as f32)]
+                })
             .vertices()
             .collect()
         );