diff options
| -rw-r--r-- | core/math/basis.cpp | 29 | ||||
| -rw-r--r-- | modules/mono/glue/Managed/Files/Basis.cs | 44 |
2 files changed, 39 insertions, 34 deletions
diff --git a/core/math/basis.cpp b/core/math/basis.cpp index 9fcecd1ba6..1540bc8fe1 100644 --- a/core/math/basis.cpp +++ b/core/math/basis.cpp @@ -813,21 +813,28 @@ void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_phi) { ERR_FAIL_COND(!p_axis.is_normalized()); #endif Vector3 axis_sq(p_axis.x * p_axis.x, p_axis.y * p_axis.y, p_axis.z * p_axis.z); - real_t cosine = Math::cos(p_phi); - real_t sine = Math::sin(p_phi); - elements[0][0] = axis_sq.x + cosine * (1.0 - axis_sq.x); - elements[0][1] = p_axis.x * p_axis.y * (1.0 - cosine) - p_axis.z * sine; - elements[0][2] = p_axis.z * p_axis.x * (1.0 - cosine) + p_axis.y * sine; - - elements[1][0] = p_axis.x * p_axis.y * (1.0 - cosine) + p_axis.z * sine; elements[1][1] = axis_sq.y + cosine * (1.0 - axis_sq.y); - elements[1][2] = p_axis.y * p_axis.z * (1.0 - cosine) - p_axis.x * sine; - - elements[2][0] = p_axis.z * p_axis.x * (1.0 - cosine) - p_axis.y * sine; - elements[2][1] = p_axis.y * p_axis.z * (1.0 - cosine) + p_axis.x * sine; elements[2][2] = axis_sq.z + cosine * (1.0 - axis_sq.z); + + real_t sine = Math::sin(p_phi); + real_t t = 1 - cosine; + + real_t xyzt = p_axis.x * p_axis.y * t; + real_t zyxs = p_axis.z * sine; + elements[0][1] = xyzt - zyxs; + elements[1][0] = xyzt + zyxs; + + xyzt = p_axis.x * p_axis.z * t; + zyxs = p_axis.y * sine; + elements[0][2] = xyzt + zyxs; + elements[2][0] = xyzt - zyxs; + + xyzt = p_axis.y * p_axis.z * t; + zyxs = p_axis.x * sine; + elements[1][2] = xyzt - zyxs; + elements[2][1] = xyzt + zyxs; } void Basis::set_axis_angle_scale(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) { diff --git a/modules/mono/glue/Managed/Files/Basis.cs b/modules/mono/glue/Managed/Files/Basis.cs index d02dbe545f..9cc31a0557 100644 --- a/modules/mono/glue/Managed/Files/Basis.cs +++ b/modules/mono/glue/Managed/Files/Basis.cs @@ -575,31 +575,29 @@ namespace Godot public Basis(Vector3 axis, real_t phi) { - var axis_sq = new Vector3(axis.x * axis.x, axis.y * axis.y, axis.z * axis.z); - + Vector3 axisSq = new Vector3(axis.x * axis.x, axis.y * axis.y, axis.z * axis.z); real_t cosine = Mathf.Cos(phi); - real_t sine = Mathf.Sin(phi); - - Row0 = new Vector3 - ( - axis_sq.x + cosine * (1.0f - axis_sq.x), - axis.x * axis.y * (1.0f - cosine) - axis.z * sine, - axis.z * axis.x * (1.0f - cosine) + axis.y * sine - ); + Row0.x = axisSq.x + cosine * (1.0f - axisSq.x); + Row1.y = axisSq.y + cosine * (1.0f - axisSq.y); + Row2.z = axisSq.z + cosine * (1.0f - axisSq.z); - Row1 = new Vector3 - ( - axis.x * axis.y * (1.0f - cosine) + axis.z * sine, - axis_sq.y + cosine * (1.0f - axis_sq.y), - axis.y * axis.z * (1.0f - cosine) - axis.x * sine - ); - - Row2 = new Vector3 - ( - axis.z * axis.x * (1.0f - cosine) - axis.y * sine, - axis.y * axis.z * (1.0f - cosine) + axis.x * sine, - axis_sq.z + cosine * (1.0f - axis_sq.z) - ); + real_t sine = Mathf.Sin(phi); + real_t t = 1.0f - cosine; + + real_t xyzt = axis.x * axis.y * t; + real_t zyxs = axis.z * sine; + Row0.y = xyzt - zyxs; + Row1.x = xyzt + zyxs; + + xyzt = axis.x * axis.z * t; + zyxs = axis.y * sine; + Row0.z = xyzt + zyxs; + Row2.x = xyzt - zyxs; + + xyzt = axis.y * axis.z * t; + zyxs = axis.x * sine; + Row1.z = xyzt - zyxs; + Row2.y = xyzt + zyxs; } public Basis(Vector3 column0, Vector3 column1, Vector3 column2) |