src: implement ego tracking models, and port shaders from renderbug into here

Cargo.lock

@@ -14,6 +14,15 @@ version = "1.0.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b0674a1ddeecb70197781e945de4b3b8ffb61fa939a5597bcf48503737663100"
 
+[[package]]
+name = "approx"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "arrayvec"
 version = "0.7.6"
@@ -756,6 +765,18 @@ dependencies = [
  "esp-metadata-generated",
 ]
 
+[[package]]
+name = "esp-storage"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f276ad8a3bdc6b47cd92a3e91013f2e42dce9b3fc5023392063387a1ce2ed69a"
+dependencies = [
+ "critical-section",
+ "document-features",
+ "embedded-storage",
+ "esp-rom-sys",
+]
+
 [[package]]
 name = "esp-synopsys-usb-otg"
 version = "0.4.2"
@@ -1052,6 +1073,15 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "kfilter"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d320a64bfb4ff8e33add1458241eff87b02a29abf9c19549a02500795928afa"
+dependencies = [
+ "nalgebra",
+]
+
 [[package]]
 name = "libm"
 version = "0.2.15"
@@ -1114,6 +1144,20 @@ dependencies = [
  "libm",
 ]
 
+[[package]]
+name = "nalgebra"
+version = "0.33.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26aecdf64b707efd1310e3544d709c5c0ac61c13756046aaaba41be5c4f66a3b"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
 [[package]]
 name = "nb"
 version = "0.1.3"
@@ -1153,6 +1197,15 @@ dependencies = [
  "minimal-lexical",
 ]
 
+[[package]]
+name = "num-complex"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "num-derive"
 version = "0.4.2"
@@ -1164,6 +1217,25 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "num-integer"
+version = "0.1.46"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
+dependencies = [
+ "num-integer",
+ "num-traits",
+]
+
 [[package]]
 name = "num-traits"
 version = "0.2.19"
@@ -1309,10 +1381,13 @@ dependencies = [
  "esp-hal-embassy",
  "esp-hal-smartled",
  "esp-println",
+ "esp-storage",
  "esp-wifi",
  "figments",
+ "kfilter",
  "log",
  "mpu6050-dmp",
+ "nalgebra",
  "nmea",
  "rgb",
  "smart-leds",
@@ -1426,6 +1501,18 @@ dependencies = [
  "unsafe-libyaml",
 ]
 
+[[package]]
+name = "simba"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c99284beb21666094ba2b75bbceda012e610f5479dfcc2d6e2426f53197ffd95"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+]
+
 [[package]]
 name = "smart-leds"
 version = "0.4.0"