diff options
| -rw-r--r-- | core/math/basis.cpp | 19 | ||||
| -rw-r--r-- | core/math/basis.h | 6 | ||||
| -rw-r--r-- | core/math/vector3.cpp | 6 | ||||
| -rw-r--r-- | core/math/vector3.h | 1 | ||||
| -rw-r--r-- | core/variant/variant_call.cpp | 2 | ||||
| -rw-r--r-- | doc/classes/Basis.xml | 7 | ||||
| -rw-r--r-- | doc/classes/Vector3.xml | 7 | ||||
| -rw-r--r-- | servers/physics_3d/body_3d_sw.cpp | 8 |
8 files changed, 27 insertions, 29 deletions
diff --git a/core/math/basis.cpp b/core/math/basis.cpp index eec9caf149..a7f89522d7 100644 --- a/core/math/basis.cpp +++ b/core/math/basis.cpp @@ -207,6 +207,10 @@ Basis Basis::transposed() const { return tr; } +Basis Basis::from_scale(const Vector3 &p_scale) { + return Basis(p_scale.x, 0, 0, 0, p_scale.y, 0, 0, 0, p_scale.z); +} + // Multiplies the matrix from left by the scaling matrix: M -> S.M // See the comment for Basis::rotated for further explanation. void Basis::scale(const Vector3 &p_scale) { @@ -246,10 +250,7 @@ void Basis::make_scale_uniform() { } Basis Basis::scaled_local(const Vector3 &p_scale) const { - Basis b; - b.set_diagonal(p_scale); - - return (*this) * b; + return (*this) * Basis::from_scale(p_scale); } Vector3 Basis::get_scale_abs() const { @@ -991,21 +992,23 @@ void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_phi) { } void Basis::set_axis_angle_scale(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) { - set_diagonal(p_scale); + _set_diagonal(p_scale); rotate(p_axis, p_phi); } void Basis::set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale) { - set_diagonal(p_scale); + _set_diagonal(p_scale); rotate(p_euler); } void Basis::set_quaternion_scale(const Quaternion &p_quaternion, const Vector3 &p_scale) { - set_diagonal(p_scale); + _set_diagonal(p_scale); rotate(p_quaternion); } -void Basis::set_diagonal(const Vector3 &p_diag) { +// This also sets the non-diagonal elements to 0, which is misleading from the +// name, so we want this method to be private. Use `from_scale` externally. +void Basis::_set_diagonal(const Vector3 &p_diag) { elements[0][0] = p_diag.x; elements[0][1] = 0; elements[0][2] = 0; diff --git a/core/math/basis.h b/core/math/basis.h index 9d8ed16e29..eb107d7e4e 100644 --- a/core/math/basis.h +++ b/core/math/basis.h @@ -35,6 +35,9 @@ #include "core/math/vector3.h" class Basis { +private: + void _set_diagonal(const Vector3 &p_diag); + public: Vector3 elements[3] = { Vector3(1, 0, 0), @@ -166,8 +169,6 @@ public: int get_orthogonal_index() const; void set_orthogonal_index(int p_index); - void set_diagonal(const Vector3 &p_diag); - bool is_orthogonal() const; bool is_diagonal() const; bool is_rotation() const; @@ -254,6 +255,7 @@ public: Basis(const Vector3 &p_axis, real_t p_phi) { set_axis_angle(p_axis, p_phi); } Basis(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_phi, p_scale); } + static Basis from_scale(const Vector3 &p_scale); _FORCE_INLINE_ Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2) { elements[0] = row0; diff --git a/core/math/vector3.cpp b/core/math/vector3.cpp index 401c3ccd9c..fa212c178a 100644 --- a/core/math/vector3.cpp +++ b/core/math/vector3.cpp @@ -115,12 +115,6 @@ Basis Vector3::outer(const Vector3 &p_b) const { return Basis(row0, row1, row2); } -Basis Vector3::to_diagonal_matrix() const { - return Basis(x, 0, 0, - 0, y, 0, - 0, 0, z); -} - bool Vector3::is_equal_approx(const Vector3 &p_v) const { return Math::is_equal_approx(x, p_v.x) && Math::is_equal_approx(y, p_v.y) && Math::is_equal_approx(z, p_v.z); } diff --git a/core/math/vector3.h b/core/math/vector3.h index 6a4c42f41b..e65ac31c02 100644 --- a/core/math/vector3.h +++ b/core/math/vector3.h @@ -106,7 +106,6 @@ struct Vector3 { _FORCE_INLINE_ Vector3 cross(const Vector3 &p_b) const; _FORCE_INLINE_ real_t dot(const Vector3 &p_b) const; Basis outer(const Vector3 &p_b) const; - Basis to_diagonal_matrix() const; _FORCE_INLINE_ Vector3 abs() const; _FORCE_INLINE_ Vector3 floor() const; diff --git a/core/variant/variant_call.cpp b/core/variant/variant_call.cpp index 39207df9e7..49a0b455df 100644 --- a/core/variant/variant_call.cpp +++ b/core/variant/variant_call.cpp @@ -1568,7 +1568,6 @@ static void _register_variant_builtin_methods() { bind_method(Vector3, dot, sarray("with"), varray()); bind_method(Vector3, cross, sarray("with"), varray()); bind_method(Vector3, outer, sarray("with"), varray()); - bind_method(Vector3, to_diagonal_matrix, sarray(), varray()); bind_method(Vector3, abs, sarray(), varray()); bind_method(Vector3, floor, sarray(), varray()); bind_method(Vector3, ceil, sarray(), varray()); @@ -1732,6 +1731,7 @@ static void _register_variant_builtin_methods() { bind_method(Basis, is_equal_approx, sarray("b"), varray()); bind_method(Basis, get_rotation_quaternion, sarray(), varray()); bind_static_method(Basis, looking_at, sarray("target", "up"), varray(Vector3(0, 1, 0))); + bind_static_method(Basis, from_scale, sarray("scale"), varray()); /* AABB */ diff --git a/doc/classes/Basis.xml b/doc/classes/Basis.xml index 9d737ac93f..63df5c40b2 100644 --- a/doc/classes/Basis.xml +++ b/doc/classes/Basis.xml @@ -71,6 +71,13 @@ A negative determinant means the basis has a negative scale. A zero determinant means the basis isn't invertible, and is usually considered invalid. </description> </method> + <method name="from_scale" qualifiers="static"> + <return type="Basis" /> + <argument index="0" name="scale" type="Vector3" /> + <description> + Constructs a pure scale basis matrix with no rotation or shearing. The scale values are set as the diagonal of the matrix, and the other parts of the matrix are zero. + </description> + </method> <method name="get_euler" qualifiers="const"> <return type="Vector3" /> <description> diff --git a/doc/classes/Vector3.xml b/doc/classes/Vector3.xml index 61c3480489..9f2ea7b2a0 100644 --- a/doc/classes/Vector3.xml +++ b/doc/classes/Vector3.xml @@ -422,13 +422,6 @@ Returns this vector with each component snapped to the nearest multiple of [code]step[/code]. This can also be used to round to an arbitrary number of decimals. </description> </method> - <method name="to_diagonal_matrix" qualifiers="const"> - <return type="Basis" /> - <description> - Returns a diagonal matrix with the vector as main diagonal. - This is equivalent to a Basis with no rotation or shearing and this vector's components set as the scale. - </description> - </method> </methods> <members> <member name="x" type="float" setter="" getter="" default="0.0"> diff --git a/servers/physics_3d/body_3d_sw.cpp b/servers/physics_3d/body_3d_sw.cpp index 41745545d8..5924e249a5 100644 --- a/servers/physics_3d/body_3d_sw.cpp +++ b/servers/physics_3d/body_3d_sw.cpp @@ -110,7 +110,7 @@ void Body3DSW::update_mass_properties() { real_t mass = area * this->mass / total_area; - Basis shape_inertia_tensor = shape->get_moment_of_inertia(mass).to_diagonal_matrix(); + Basis shape_inertia_tensor = Basis::from_scale(shape->get_moment_of_inertia(mass)); Transform3D shape_transform = get_shape_transform(i); Basis shape_basis = shape_transform.basis.orthonormalized(); @@ -123,7 +123,7 @@ void Body3DSW::update_mass_properties() { // Set the inertia to a valid value when there are no valid shapes. if (!inertia_set) { - inertia_tensor.set_diagonal(Vector3(1.0, 1.0, 1.0)); + inertia_tensor = Basis(); } // Handle partial custom inertia. @@ -215,7 +215,7 @@ void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, const Variant & } else { calculate_inertia = false; if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) { - principal_inertia_axes_local.set_diagonal(Vector3(1.0, 1.0, 1.0)); + principal_inertia_axes_local = Basis(); _inv_inertia = inertia.inverse(); _update_transform_dependant(); } @@ -301,7 +301,7 @@ void Body3DSW::set_mode(PhysicsServer3D::BodyMode p_mode) { case PhysicsServer3D::BODY_MODE_DYNAMIC: { _inv_mass = mass > 0 ? (1.0 / mass) : 0; if (!calculate_inertia) { - principal_inertia_axes_local.set_diagonal(Vector3(1.0, 1.0, 1.0)); + principal_inertia_axes_local = Basis(); _inv_inertia = inertia.inverse(); _update_transform_dependant(); } |