diff options
38 files changed, 496 insertions, 382 deletions
diff --git a/core/math/basis.cpp b/core/math/basis.cpp index a7f89522d7..0030cb1144 100644 --- a/core/math/basis.cpp +++ b/core/math/basis.cpp @@ -354,7 +354,7 @@ void Basis::rotate(const Quaternion &p_quaternion) { *this = rotated(p_quaternion); } -Vector3 Basis::get_rotation_euler() const { +Vector3 Basis::get_euler_normalized(EulerOrder p_order) const { // Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S, // and returns the Euler angles corresponding to the rotation part, complementing get_scale(). // See the comment in get_scale() for further information. @@ -365,7 +365,7 @@ Vector3 Basis::get_rotation_euler() const { m.scale(Vector3(-1, -1, -1)); } - return m.get_euler(); + return m.get_euler(p_order); } Quaternion Basis::get_rotation_quaternion() const { @@ -424,218 +424,203 @@ void Basis::get_rotation_axis_angle_local(Vector3 &p_axis, real_t &p_angle) cons p_angle = -p_angle; } -// get_euler_xyz returns a vector containing the Euler angles in the format -// (a1,a2,a3), where a3 is the angle of the first rotation, and a1 is the last -// (following the convention they are commonly defined in the literature). -// -// The current implementation uses XYZ convention (Z is the first rotation), -// so euler.z is the angle of the (first) rotation around Z axis and so on, -// -// And thus, assuming the matrix is a rotation matrix, this function returns -// the angles in the decomposition R = X(a1).Y(a2).Z(a3) where Z(a) rotates -// around the z-axis by a and so on. -Vector3 Basis::get_euler_xyz() const { - // Euler angles in XYZ convention. - // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix - // - // rot = cy*cz -cy*sz sy - // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx - // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy - - Vector3 euler; - real_t sy = elements[0][2]; - if (sy < (1.0 - CMP_EPSILON)) { - if (sy > -(1.0 - CMP_EPSILON)) { - // is this a pure Y rotation? - if (elements[1][0] == 0.0 && elements[0][1] == 0.0 && elements[1][2] == 0 && elements[2][1] == 0 && elements[1][1] == 1) { - // return the simplest form (human friendlier in editor and scripts) - euler.x = 0; - euler.y = atan2(elements[0][2], elements[0][0]); - euler.z = 0; +Vector3 Basis::get_euler(EulerOrder p_order) const { + switch (p_order) { + case EULER_ORDER_XYZ: { + // Euler angles in XYZ convention. + // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix + // + // rot = cy*cz -cy*sz sy + // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx + // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy + + Vector3 euler; + real_t sy = elements[0][2]; + if (sy < (1.0 - CMP_EPSILON)) { + if (sy > -(1.0 - CMP_EPSILON)) { + // is this a pure Y rotation? + if (elements[1][0] == 0.0 && elements[0][1] == 0.0 && elements[1][2] == 0 && elements[2][1] == 0 && elements[1][1] == 1) { + // return the simplest form (human friendlier in editor and scripts) + euler.x = 0; + euler.y = atan2(elements[0][2], elements[0][0]); + euler.z = 0; + } else { + euler.x = Math::atan2(-elements[1][2], elements[2][2]); + euler.y = Math::asin(sy); + euler.z = Math::atan2(-elements[0][1], elements[0][0]); + } + } else { + euler.x = Math::atan2(elements[2][1], elements[1][1]); + euler.y = -Math_PI / 2.0; + euler.z = 0.0; + } } else { - euler.x = Math::atan2(-elements[1][2], elements[2][2]); - euler.y = Math::asin(sy); - euler.z = Math::atan2(-elements[0][1], elements[0][0]); + euler.x = Math::atan2(elements[2][1], elements[1][1]); + euler.y = Math_PI / 2.0; + euler.z = 0.0; + } + return euler; + } break; + case EULER_ORDER_XZY: { + // Euler angles in XZY convention. + // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix + // + // rot = cz*cy -sz cz*sy + // sx*sy+cx*cy*sz cx*cz cx*sz*sy-cy*sx + // cy*sx*sz cz*sx cx*cy+sx*sz*sy + + Vector3 euler; + real_t sz = elements[0][1]; + if (sz < (1.0 - CMP_EPSILON)) { + if (sz > -(1.0 - CMP_EPSILON)) { + euler.x = Math::atan2(elements[2][1], elements[1][1]); + euler.y = Math::atan2(elements[0][2], elements[0][0]); + euler.z = Math::asin(-sz); + } else { + // It's -1 + euler.x = -Math::atan2(elements[1][2], elements[2][2]); + euler.y = 0.0; + euler.z = Math_PI / 2.0; + } + } else { + // It's 1 + euler.x = -Math::atan2(elements[1][2], elements[2][2]); + euler.y = 0.0; + euler.z = -Math_PI / 2.0; + } + return euler; + } break; + case EULER_ORDER_YXZ: { + // Euler angles in YXZ convention. + // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix + // + // rot = cy*cz+sy*sx*sz cz*sy*sx-cy*sz cx*sy + // cx*sz cx*cz -sx + // cy*sx*sz-cz*sy cy*cz*sx+sy*sz cy*cx + + Vector3 euler; + + real_t m12 = elements[1][2]; + + if (m12 < (1 - CMP_EPSILON)) { + if (m12 > -(1 - CMP_EPSILON)) { + // is this a pure X rotation? + if (elements[1][0] == 0 && elements[0][1] == 0 && elements[0][2] == 0 && elements[2][0] == 0 && elements[0][0] == 1) { + // return the simplest form (human friendlier in editor and scripts) + euler.x = atan2(-m12, elements[1][1]); + euler.y = 0; + euler.z = 0; + } else { + euler.x = asin(-m12); + euler.y = atan2(elements[0][2], elements[2][2]); + euler.z = atan2(elements[1][0], elements[1][1]); + } + } else { // m12 == -1 + euler.x = Math_PI * 0.5; + euler.y = atan2(elements[0][1], elements[0][0]); + euler.z = 0; + } + } else { // m12 == 1 + euler.x = -Math_PI * 0.5; + euler.y = -atan2(elements[0][1], elements[0][0]); + euler.z = 0; } - } else { - euler.x = Math::atan2(elements[2][1], elements[1][1]); - euler.y = -Math_PI / 2.0; - euler.z = 0.0; - } - } else { - euler.x = Math::atan2(elements[2][1], elements[1][1]); - euler.y = Math_PI / 2.0; - euler.z = 0.0; - } - return euler; -} - -// set_euler_xyz expects a vector containing the Euler angles in the format -// (ax,ay,az), where ax is the angle of rotation around x axis, -// and similar for other axes. -// The current implementation uses XYZ convention (Z is the first rotation). -void Basis::set_euler_xyz(const Vector3 &p_euler) { - real_t c, s; - - c = Math::cos(p_euler.x); - s = Math::sin(p_euler.x); - Basis xmat(1.0, 0.0, 0.0, 0.0, c, -s, 0.0, s, c); - - c = Math::cos(p_euler.y); - s = Math::sin(p_euler.y); - Basis ymat(c, 0.0, s, 0.0, 1.0, 0.0, -s, 0.0, c); - - c = Math::cos(p_euler.z); - s = Math::sin(p_euler.z); - Basis zmat(c, -s, 0.0, s, c, 0.0, 0.0, 0.0, 1.0); - - //optimizer will optimize away all this anyway - *this = xmat * (ymat * zmat); -} - -Vector3 Basis::get_euler_xzy() const { - // Euler angles in XZY convention. - // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix - // - // rot = cz*cy -sz cz*sy - // sx*sy+cx*cy*sz cx*cz cx*sz*sy-cy*sx - // cy*sx*sz cz*sx cx*cy+sx*sz*sy - - Vector3 euler; - real_t sz = elements[0][1]; - if (sz < (1.0 - CMP_EPSILON)) { - if (sz > -(1.0 - CMP_EPSILON)) { - euler.x = Math::atan2(elements[2][1], elements[1][1]); - euler.y = Math::atan2(elements[0][2], elements[0][0]); - euler.z = Math::asin(-sz); - } else { - // It's -1 - euler.x = -Math::atan2(elements[1][2], elements[2][2]); - euler.y = 0.0; - euler.z = Math_PI / 2.0; - } - } else { - // It's 1 - euler.x = -Math::atan2(elements[1][2], elements[2][2]); - euler.y = 0.0; - euler.z = -Math_PI / 2.0; - } - return euler; -} - -void Basis::set_euler_xzy(const Vector3 &p_euler) { - real_t c, s; - - c = Math::cos(p_euler.x); - s = Math::sin(p_euler.x); - Basis xmat(1.0, 0.0, 0.0, 0.0, c, -s, 0.0, s, c); - - c = Math::cos(p_euler.y); - s = Math::sin(p_euler.y); - Basis ymat(c, 0.0, s, 0.0, 1.0, 0.0, -s, 0.0, c); - - c = Math::cos(p_euler.z); - s = Math::sin(p_euler.z); - Basis zmat(c, -s, 0.0, s, c, 0.0, 0.0, 0.0, 1.0); - - *this = xmat * zmat * ymat; -} - -Vector3 Basis::get_euler_yzx() const { - // Euler angles in YZX convention. - // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix - // - // rot = cy*cz sy*sx-cy*cx*sz cx*sy+cy*sz*sx - // sz cz*cx -cz*sx - // -cz*sy cy*sx+cx*sy*sz cy*cx-sy*sz*sx - - Vector3 euler; - real_t sz = elements[1][0]; - if (sz < (1.0 - CMP_EPSILON)) { - if (sz > -(1.0 - CMP_EPSILON)) { - euler.x = Math::atan2(-elements[1][2], elements[1][1]); - euler.y = Math::atan2(-elements[2][0], elements[0][0]); - euler.z = Math::asin(sz); - } else { - // It's -1 - euler.x = Math::atan2(elements[2][1], elements[2][2]); - euler.y = 0.0; - euler.z = -Math_PI / 2.0; - } - } else { - // It's 1 - euler.x = Math::atan2(elements[2][1], elements[2][2]); - euler.y = 0.0; - euler.z = Math_PI / 2.0; - } - return euler; -} - -void Basis::set_euler_yzx(const Vector3 &p_euler) { - real_t c, s; - - c = Math::cos(p_euler.x); - s = Math::sin(p_euler.x); - Basis xmat(1.0, 0.0, 0.0, 0.0, c, -s, 0.0, s, c); - - c = Math::cos(p_euler.y); - s = Math::sin(p_euler.y); - Basis ymat(c, 0.0, s, 0.0, 1.0, 0.0, -s, 0.0, c); - - c = Math::cos(p_euler.z); - s = Math::sin(p_euler.z); - Basis zmat(c, -s, 0.0, s, c, 0.0, 0.0, 0.0, 1.0); - - *this = ymat * zmat * xmat; -} - -// get_euler_yxz returns a vector containing the Euler angles in the YXZ convention, -// as in first-Z, then-X, last-Y. The angles for X, Y, and Z rotations are returned -// as the x, y, and z components of a Vector3 respectively. -Vector3 Basis::get_euler_yxz() const { - // Euler angles in YXZ convention. - // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix - // - // rot = cy*cz+sy*sx*sz cz*sy*sx-cy*sz cx*sy - // cx*sz cx*cz -sx - // cy*sx*sz-cz*sy cy*cz*sx+sy*sz cy*cx - - Vector3 euler; - - real_t m12 = elements[1][2]; - if (m12 < (1 - CMP_EPSILON)) { - if (m12 > -(1 - CMP_EPSILON)) { - // is this a pure X rotation? - if (elements[1][0] == 0 && elements[0][1] == 0 && elements[0][2] == 0 && elements[2][0] == 0 && elements[0][0] == 1) { - // return the simplest form (human friendlier in editor and scripts) - euler.x = atan2(-m12, elements[1][1]); - euler.y = 0; + return euler; + } break; + case EULER_ORDER_YZX: { + // Euler angles in YZX convention. + // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix + // + // rot = cy*cz sy*sx-cy*cx*sz cx*sy+cy*sz*sx + // sz cz*cx -cz*sx + // -cz*sy cy*sx+cx*sy*sz cy*cx-sy*sz*sx + + Vector3 euler; + real_t sz = elements[1][0]; + if (sz < (1.0 - CMP_EPSILON)) { + if (sz > -(1.0 - CMP_EPSILON)) { + euler.x = Math::atan2(-elements[1][2], elements[1][1]); + euler.y = Math::atan2(-elements[2][0], elements[0][0]); + euler.z = Math::asin(sz); + } else { + // It's -1 + euler.x = Math::atan2(elements[2][1], elements[2][2]); + euler.y = 0.0; + euler.z = -Math_PI / 2.0; + } + } else { + // It's 1 + euler.x = Math::atan2(elements[2][1], elements[2][2]); + euler.y = 0.0; + euler.z = Math_PI / 2.0; + } + return euler; + } break; + case EULER_ORDER_ZXY: { + // Euler angles in ZXY convention. + // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix + // + // rot = cz*cy-sz*sx*sy -cx*sz cz*sy+cy*sz*sx + // cy*sz+cz*sx*sy cz*cx sz*sy-cz*cy*sx + // -cx*sy sx cx*cy + Vector3 euler; + real_t sx = elements[2][1]; + if (sx < (1.0 - CMP_EPSILON)) { + if (sx > -(1.0 - CMP_EPSILON)) { + euler.x = Math::asin(sx); + euler.y = Math::atan2(-elements[2][0], elements[2][2]); + euler.z = Math::atan2(-elements[0][1], elements[1][1]); + } else { + // It's -1 + euler.x = -Math_PI / 2.0; + euler.y = Math::atan2(elements[0][2], elements[0][0]); + euler.z = 0; + } + } else { + // It's 1 + euler.x = Math_PI / 2.0; + euler.y = Math::atan2(elements[0][2], elements[0][0]); euler.z = 0; + } + return euler; + } break; + case EULER_ORDER_ZYX: { + // Euler angles in ZYX convention. + // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix + // + // rot = cz*cy cz*sy*sx-cx*sz sz*sx+cz*cx*cy + // cy*sz cz*cx+sz*sy*sx cx*sz*sy-cz*sx + // -sy cy*sx cy*cx + Vector3 euler; + real_t sy = elements[2][0]; + if (sy < (1.0 - CMP_EPSILON)) { + if (sy > -(1.0 - CMP_EPSILON)) { + euler.x = Math::atan2(elements[2][1], elements[2][2]); + euler.y = Math::asin(-sy); + euler.z = Math::atan2(elements[1][0], elements[0][0]); + } else { + // It's -1 + euler.x = 0; + euler.y = Math_PI / 2.0; + euler.z = -Math::atan2(elements[0][1], elements[1][1]); + } } else { - euler.x = asin(-m12); - euler.y = atan2(elements[0][2], elements[2][2]); - euler.z = atan2(elements[1][0], elements[1][1]); + // It's 1 + euler.x = 0; + euler.y = -Math_PI / 2.0; + euler.z = -Math::atan2(elements[0][1], elements[1][1]); } - } else { // m12 == -1 - euler.x = Math_PI * 0.5; - euler.y = atan2(elements[0][1], elements[0][0]); - euler.z = 0; + return euler; + } break; + default: { + ERR_FAIL_V_MSG(Vector3(), "Invalid parameter for get_euler(order)"); } - } else { // m12 == 1 - euler.x = -Math_PI * 0.5; - euler.y = -atan2(elements[0][1], elements[0][0]); - euler.z = 0; } - - return euler; + return Vector3(); } -// set_euler_yxz expects a vector containing the Euler angles in the format -// (ax,ay,az), where ax is the angle of rotation around x axis, -// and similar for other axes. -// The current implementation uses YXZ convention (Z is the first rotation). -void Basis::set_euler_yxz(const Vector3 &p_euler) { +void Basis::set_euler(const Vector3 &p_euler, EulerOrder p_order) { real_t c, s; c = Math::cos(p_euler.x); @@ -650,102 +635,29 @@ void Basis::set_euler_yxz(const Vector3 &p_euler) { s = Math::sin(p_euler.z); Basis zmat(c, -s, 0.0, s, c, 0.0, 0.0, 0.0, 1.0); - //optimizer will optimize away all this anyway - *this = ymat * xmat * zmat; -} - -Vector3 Basis::get_euler_zxy() const { - // Euler angles in ZXY convention. - // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix - // - // rot = cz*cy-sz*sx*sy -cx*sz cz*sy+cy*sz*sx - // cy*sz+cz*sx*sy cz*cx sz*sy-cz*cy*sx - // -cx*sy sx cx*cy - Vector3 euler; - real_t sx = elements[2][1]; - if (sx < (1.0 - CMP_EPSILON)) { - if (sx > -(1.0 - CMP_EPSILON)) { - euler.x = Math::asin(sx); - euler.y = Math::atan2(-elements[2][0], elements[2][2]); - euler.z = Math::atan2(-elements[0][1], elements[1][1]); - } else { - // It's -1 - euler.x = -Math_PI / 2.0; - euler.y = Math::atan2(elements[0][2], elements[0][0]); - euler.z = 0; + switch (p_order) { + case EULER_ORDER_XYZ: { + *this = xmat * (ymat * zmat); + } break; + case EULER_ORDER_XZY: { + *this = xmat * zmat * ymat; + } break; + case EULER_ORDER_YXZ: { + *this = ymat * xmat * zmat; + } break; + case EULER_ORDER_YZX: { + *this = ymat * zmat * xmat; + } break; + case EULER_ORDER_ZXY: { + *this = zmat * xmat * ymat; + } break; + case EULER_ORDER_ZYX: { + *this = zmat * ymat * xmat; + } break; + default: { + ERR_FAIL_MSG("Invalid order parameter for set_euler(vec3,order)"); } - } else { - // It's 1 - euler.x = Math_PI / 2.0; - euler.y = Math::atan2(elements[0][2], elements[0][0]); - euler.z = 0; } - return euler; -} - -void Basis::set_euler_zxy(const Vector3 &p_euler) { - real_t c, s; - - c = Math::cos(p_euler.x); - s = Math::sin(p_euler.x); - Basis xmat(1.0, 0.0, 0.0, 0.0, c, -s, 0.0, s, c); - - c = Math::cos(p_euler.y); - s = Math::sin(p_euler.y); - Basis ymat(c, 0.0, s, 0.0, 1.0, 0.0, -s, 0.0, c); - - c = Math::cos(p_euler.z); - s = Math::sin(p_euler.z); - Basis zmat(c, -s, 0.0, s, c, 0.0, 0.0, 0.0, 1.0); - - *this = zmat * xmat * ymat; -} - -Vector3 Basis::get_euler_zyx() const { - // Euler angles in ZYX convention. - // See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix - // - // rot = cz*cy cz*sy*sx-cx*sz sz*sx+cz*cx*cy - // cy*sz cz*cx+sz*sy*sx cx*sz*sy-cz*sx - // -sy cy*sx cy*cx - Vector3 euler; - real_t sy = elements[2][0]; - if (sy < (1.0 - CMP_EPSILON)) { - if (sy > -(1.0 - CMP_EPSILON)) { - euler.x = Math::atan2(elements[2][1], elements[2][2]); - euler.y = Math::asin(-sy); - euler.z = Math::atan2(elements[1][0], elements[0][0]); - } else { - // It's -1 - euler.x = 0; - euler.y = Math_PI / 2.0; - euler.z = -Math::atan2(elements[0][1], elements[1][1]); - } - } else { - // It's 1 - euler.x = 0; - euler.y = -Math_PI / 2.0; - euler.z = -Math::atan2(elements[0][1], elements[1][1]); - } - return euler; -} - -void Basis::set_euler_zyx(const Vector3 &p_euler) { - real_t c, s; - - c = Math::cos(p_euler.x); - s = Math::sin(p_euler.x); - Basis xmat(1.0, 0.0, 0.0, 0.0, c, -s, 0.0, s, c); - - c = Math::cos(p_euler.y); - s = Math::sin(p_euler.y); - Basis ymat(c, 0.0, s, 0.0, 1.0, 0.0, -s, 0.0, c); - - c = Math::cos(p_euler.z); - s = Math::sin(p_euler.z); - Basis zmat(c, -s, 0.0, s, c, 0.0, 0.0, 0.0, 1.0); - - *this = zmat * ymat * xmat; } bool Basis::is_equal_approx(const Basis &p_basis) const { diff --git a/core/math/basis.h b/core/math/basis.h index eb107d7e4e..617d005f19 100644 --- a/core/math/basis.h +++ b/core/math/basis.h @@ -85,40 +85,35 @@ public: void rotate(const Quaternion &p_quaternion); Basis rotated(const Quaternion &p_quaternion) const; - Vector3 get_rotation_euler() const; + enum EulerOrder { + EULER_ORDER_XYZ, + EULER_ORDER_XZY, + EULER_ORDER_YXZ, + EULER_ORDER_YZX, + EULER_ORDER_ZXY, + EULER_ORDER_ZYX + }; + + Vector3 get_euler_normalized(EulerOrder p_order = EULER_ORDER_YXZ) const; void get_rotation_axis_angle(Vector3 &p_axis, real_t &p_angle) const; void get_rotation_axis_angle_local(Vector3 &p_axis, real_t &p_angle) const; Quaternion get_rotation_quaternion() const; - Vector3 get_rotation() const { return get_rotation_euler(); }; void rotate_to_align(Vector3 p_start_direction, Vector3 p_end_direction); Vector3 rotref_posscale_decomposition(Basis &rotref) const; - Vector3 get_euler_xyz() const; - void set_euler_xyz(const Vector3 &p_euler); - - Vector3 get_euler_xzy() const; - void set_euler_xzy(const Vector3 &p_euler); - - Vector3 get_euler_yzx() const; - void set_euler_yzx(const Vector3 &p_euler); - - Vector3 get_euler_yxz() const; - void set_euler_yxz(const Vector3 &p_euler); - - Vector3 get_euler_zxy() const; - void set_euler_zxy(const Vector3 &p_euler); - - Vector3 get_euler_zyx() const; - void set_euler_zyx(const Vector3 &p_euler); + Vector3 get_euler(EulerOrder p_order = EULER_ORDER_YXZ) const; + void set_euler(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ); + static Basis from_euler(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ) { + Basis b; + b.set_euler(p_euler, p_order); + return b; + } Quaternion get_quaternion() const; void set_quaternion(const Quaternion &p_quaternion); - Vector3 get_euler() const { return get_euler_yxz(); } - void set_euler(const Vector3 &p_euler) { set_euler_yxz(p_euler); } - void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const; void set_axis_angle(const Vector3 &p_axis, real_t p_phi); @@ -250,9 +245,6 @@ public: Basis(const Quaternion &p_quaternion) { set_quaternion(p_quaternion); }; Basis(const Quaternion &p_quaternion, const Vector3 &p_scale) { set_quaternion_scale(p_quaternion, p_scale); } - Basis(const Vector3 &p_euler) { set_euler(p_euler); } - Basis(const Vector3 &p_euler, const Vector3 &p_scale) { set_euler_scale(p_euler, p_scale); } - 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); diff --git a/core/math/quaternion.cpp b/core/math/quaternion.cpp index a29a70c1f0..944474686a 100644 --- a/core/math/quaternion.cpp +++ b/core/math/quaternion.cpp @@ -44,7 +44,7 @@ real_t Quaternion::angle_to(const Quaternion &p_to) const { // This implementation uses XYZ convention (Z is the first rotation). Vector3 Quaternion::get_euler_xyz() const { Basis m(*this); - return m.get_euler_xyz(); + return m.get_euler(Basis::EULER_ORDER_XYZ); } // get_euler_yxz returns a vector containing the Euler angles in the format @@ -56,7 +56,7 @@ Vector3 Quaternion::get_euler_yxz() const { ERR_FAIL_COND_V_MSG(!is_normalized(), Vector3(0, 0, 0), "The quaternion must be normalized."); #endif Basis m(*this); - return m.get_euler_yxz(); + return m.get_euler(Basis::EULER_ORDER_YXZ); } void Quaternion::operator*=(const Quaternion &p_q) { diff --git a/core/variant/binder_common.h b/core/variant/binder_common.h index 8592a1dc62..f06d767cf5 100644 --- a/core/variant/binder_common.h +++ b/core/variant/binder_common.h @@ -88,6 +88,7 @@ struct VariantCaster<const T &> { VARIANT_ENUM_CAST(Object::ConnectFlags); VARIANT_ENUM_CAST(Vector3::Axis); +VARIANT_ENUM_CAST(Basis::EulerOrder); VARIANT_ENUM_CAST(Error); VARIANT_ENUM_CAST(Side); diff --git a/core/variant/variant.cpp b/core/variant/variant.cpp index 3214fc125d..81428caca1 100644 --- a/core/variant/variant.cpp +++ b/core/variant/variant.cpp @@ -313,7 +313,6 @@ bool Variant::can_convert(Variant::Type p_type_from, Variant::Type p_type_to) { case BASIS: { static const Type valid[] = { QUATERNION, - VECTOR3, NIL }; @@ -620,7 +619,6 @@ bool Variant::can_convert_strict(Variant::Type p_type_from, Variant::Type p_type case BASIS: { static const Type valid[] = { QUATERNION, - VECTOR3, NIL }; @@ -1889,8 +1887,6 @@ Variant::operator Basis() const { return *_data._basis; } else if (type == QUATERNION) { return *reinterpret_cast<const Quaternion *>(_data._mem); - } else if (type == VECTOR3) { - return Basis(*reinterpret_cast<const Vector3 *>(_data._mem)); } else if (type == TRANSFORM3D) { // unexposed in Variant::can_convert? return _data._transform3d->basis; } else { diff --git a/core/variant/variant_call.cpp b/core/variant/variant_call.cpp index 8432ccce85..ec3a6a5ca8 100644 --- a/core/variant/variant_call.cpp +++ b/core/variant/variant_call.cpp @@ -1731,7 +1731,7 @@ static void _register_variant_builtin_methods() { bind_methodv(Basis, rotated, static_cast<Basis (Basis::*)(const Vector3 &, real_t) const>(&Basis::rotated), sarray("axis", "phi"), varray()); bind_method(Basis, scaled, sarray("scale"), varray()); bind_method(Basis, get_scale, sarray(), varray()); - bind_method(Basis, get_euler, sarray(), varray()); + bind_method(Basis, get_euler, sarray("order"), varray(Basis::EULER_ORDER_YXZ)); bind_method(Basis, tdotx, sarray("with"), varray()); bind_method(Basis, tdoty, sarray("with"), varray()); bind_method(Basis, tdotz, sarray("with"), varray()); @@ -1741,6 +1741,7 @@ static void _register_variant_builtin_methods() { 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()); + bind_static_method(Basis, from_euler, sarray("euler", "order"), varray(Basis::EULER_ORDER_YXZ)); /* AABB */ @@ -2109,6 +2110,13 @@ static void _register_variant_builtin_methods() { _VariantCall::add_variant_constant(Variant::VECTOR2I, "UP", Vector2i(0, -1)); _VariantCall::add_variant_constant(Variant::VECTOR2I, "DOWN", Vector2i(0, 1)); + _VariantCall::add_constant(Variant::BASIS, "EULER_ORDER_XYZ", Basis::EULER_ORDER_XYZ); + _VariantCall::add_constant(Variant::BASIS, "EULER_ORDER_XZY", Basis::EULER_ORDER_XZY); + _VariantCall::add_constant(Variant::BASIS, "EULER_ORDER_YXZ", Basis::EULER_ORDER_YXZ); + _VariantCall::add_constant(Variant::BASIS, "EULER_ORDER_YZX", Basis::EULER_ORDER_YZX); + _VariantCall::add_constant(Variant::BASIS, "EULER_ORDER_ZXY", Basis::EULER_ORDER_ZXY); + _VariantCall::add_constant(Variant::BASIS, "EULER_ORDER_ZYX", Basis::EULER_ORDER_ZYX); + _VariantCall::add_variant_constant(Variant::TRANSFORM2D, "IDENTITY", Transform2D()); _VariantCall::add_variant_constant(Variant::TRANSFORM2D, "FLIP_X", Transform2D(-1, 0, 0, 1, 0, 0)); _VariantCall::add_variant_constant(Variant::TRANSFORM2D, "FLIP_Y", Transform2D(1, 0, 0, -1, 0, 0)); diff --git a/core/variant/variant_construct.cpp b/core/variant/variant_construct.cpp index 6aba7d7d58..5c14f30180 100644 --- a/core/variant/variant_construct.cpp +++ b/core/variant/variant_construct.cpp @@ -128,10 +128,10 @@ void Variant::_register_variant_constructors() { add_constructor<VariantConstructNoArgs<Quaternion>>(sarray()); add_constructor<VariantConstructor<Quaternion, Quaternion>>(sarray("from")); add_constructor<VariantConstructor<Quaternion, Basis>>(sarray("from")); - add_constructor<VariantConstructor<Quaternion, Vector3>>(sarray("euler")); add_constructor<VariantConstructor<Quaternion, Vector3, double>>(sarray("axis", "angle")); add_constructor<VariantConstructor<Quaternion, Vector3, Vector3>>(sarray("arc_from", "arc_to")); add_constructor<VariantConstructor<Quaternion, double, double, double, double>>(sarray("x", "y", "z", "w")); + add_constructor<VariantConstructor<Quaternion, Vector3>>(sarray("euler_yxz")); add_constructor<VariantConstructNoArgs<::AABB>>(sarray()); add_constructor<VariantConstructor<::AABB, ::AABB>>(sarray("from")); @@ -140,7 +140,6 @@ void Variant::_register_variant_constructors() { add_constructor<VariantConstructNoArgs<Basis>>(sarray()); add_constructor<VariantConstructor<Basis, Basis>>(sarray("from")); add_constructor<VariantConstructor<Basis, Quaternion>>(sarray("from")); - add_constructor<VariantConstructor<Basis, Vector3>>(sarray("euler")); add_constructor<VariantConstructor<Basis, Vector3, double>>(sarray("axis", "phi")); add_constructor<VariantConstructor<Basis, Vector3, Vector3, Vector3>>(sarray("x_axis", "y_axis", "z_axis")); diff --git a/core/variant/variant_internal.h b/core/variant/variant_internal.h index 37383ff2ec..2ba24b5af8 100644 --- a/core/variant/variant_internal.h +++ b/core/variant/variant_internal.h @@ -757,6 +757,12 @@ VARIANT_ACCESSOR_NUMBER(Error) VARIANT_ACCESSOR_NUMBER(Side) template <> +struct VariantInternalAccessor<Basis::EulerOrder> { + static _FORCE_INLINE_ Basis::EulerOrder get(const Variant *v) { return Basis::EulerOrder(*VariantInternal::get_int(v)); } + static _FORCE_INLINE_ void set(Variant *v, Basis::EulerOrder p_value) { *VariantInternal::get_int(v) = p_value; } +}; + +template <> struct VariantInternalAccessor<ObjectID> { static _FORCE_INLINE_ ObjectID get(const Variant *v) { return ObjectID(*VariantInternal::get_int(v)); } static _FORCE_INLINE_ void set(Variant *v, ObjectID p_value) { *VariantInternal::get_int(v) = p_value; } diff --git a/doc/classes/Basis.xml b/doc/classes/Basis.xml index 7f0d4cbbe3..6215c658c3 100644 --- a/doc/classes/Basis.xml +++ b/doc/classes/Basis.xml @@ -42,14 +42,6 @@ </method> <method name="Basis" qualifiers="constructor"> <return type="Basis" /> - <argument index="0" name="euler" type="Vector3" /> - <description> - Constructs a pure rotation basis matrix from the given Euler angles (in the YXZ convention: when *composing*, first Y, then X, and Z last), given in the vector format as (X angle, Y angle, Z angle). - Consider using the [Quaternion] constructor instead, which uses a quaternion instead of Euler angles. - </description> - </method> - <method name="Basis" qualifiers="constructor"> - <return type="Basis" /> <argument index="0" name="from" type="Quaternion" /> <description> Constructs a pure rotation basis matrix from the given quaternion. @@ -71,6 +63,13 @@ 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_euler" qualifiers="static"> + <return type="Basis" /> + <argument index="0" name="euler" type="Vector3" /> + <argument index="1" name="order" type="int" default="2" /> + <description> + </description> + </method> <method name="from_scale" qualifiers="static"> <return type="Basis" /> <argument index="0" name="scale" type="Vector3" /> @@ -80,6 +79,7 @@ </method> <method name="get_euler" qualifiers="const"> <return type="Vector3" /> + <argument index="0" name="order" type="int" default="2" /> <description> Returns the basis's rotation in the form of Euler angles (in the YXZ convention: when decomposing, first Z, then X, and Y last). The returned vector contains the rotation angles in the format (X angle, Y angle, Z angle). Consider using the [method get_rotation_quaternion] method instead, which returns a [Quaternion] quaternion instead of Euler angles. @@ -248,6 +248,18 @@ </member> </members> <constants> + <constant name="EULER_ORDER_XYZ" value="0"> + </constant> + <constant name="EULER_ORDER_XZY" value="1"> + </constant> + <constant name="EULER_ORDER_YXZ" value="2"> + </constant> + <constant name="EULER_ORDER_YZX" value="3"> + </constant> + <constant name="EULER_ORDER_ZXY" value="4"> + </constant> + <constant name="EULER_ORDER_ZYX" value="5"> + </constant> <constant name="IDENTITY" value="Basis(1, 0, 0, 0, 1, 0, 0, 0, 1)"> The identity basis, with no rotation or scaling applied. This is identical to calling [code]Basis()[/code] without any parameters. This constant can be used to make your code clearer, and for consistency with C#. diff --git a/doc/classes/Node3D.xml b/doc/classes/Node3D.xml index 28acd77a39..2ca664e2b5 100644 --- a/doc/classes/Node3D.xml +++ b/doc/classes/Node3D.xml @@ -264,16 +264,28 @@ </method> </methods> <members> + <member name="basis" type="Basis" setter="set_basis" getter="get_basis"> + Direct access to the 3x3 basis of the [Transform3D] property. + </member> <member name="global_transform" type="Transform3D" setter="set_global_transform" getter="get_global_transform"> World3D space (global) [Transform3D] of this node. </member> <member name="position" type="Vector3" setter="set_position" getter="get_position" default="Vector3(0, 0, 0)"> Local position or translation of this node relative to the parent. This is equivalent to [code]transform.origin[/code]. </member> + <member name="quaternion" type="Quaternion" setter="set_quaternion" getter="get_quaternion"> + Access to the node rotation as a [Quaternion]. This property is ideal for tweening complex rotations. + </member> <member name="rotation" type="Vector3" setter="set_rotation" getter="get_rotation" default="Vector3(0, 0, 0)"> - Rotation part of the local transformation in radians, specified in terms of YXZ-Euler angles in the format (X angle, Y angle, Z angle). + Rotation part of the local transformation in radians, specified in terms of Euler angles. The angles construct a rotaton in the order specified by the [member rotation_order] property. [b]Note:[/b] In the mathematical sense, rotation is a matrix and not a vector. The three Euler angles, which are the three independent parameters of the Euler-angle parametrization of the rotation matrix, are stored in a [Vector3] data structure not because the rotation is a vector, but only because [Vector3] exists as a convenient data-structure to store 3 floating-point numbers. Therefore, applying affine operations on the rotation "vector" is not meaningful. </member> + <member name="rotation_edit_mode" type="int" setter="set_rotation_edit_mode" getter="get_rotation_edit_mode" enum="Node3D.RotationEditMode" default="0"> + Specify how rotation (and scale) will be presented in the editor. + </member> + <member name="rotation_order" type="int" setter="set_rotation_order" getter="get_rotation_order" enum="Node3D.RotationOrder" default="2"> + Specify the axis rotation order of the [member rotation] property. The final orientation is constructed by rotating the Euler angles in the order specified by this property. + </member> <member name="scale" type="Vector3" setter="set_scale" getter="get_scale" default="Vector3(1, 1, 1)"> Scale part of the local transformation. </member> @@ -311,5 +323,23 @@ <constant name="NOTIFICATION_VISIBILITY_CHANGED" value="43"> Node3D nodes receives this notification when their visibility changes. </constant> + <constant name="ROTATION_EDIT_MODE_EULER" value="0" enum="RotationEditMode"> + </constant> + <constant name="ROTATION_EDIT_MODE_QUATERNION" value="1" enum="RotationEditMode"> + </constant> + <constant name="ROTATION_EDIT_MODE_BASIS" value="2" enum="RotationEditMode"> + </constant> + <constant name="ROTATION_ORDER_XYZ" value="0" enum="RotationOrder"> + </constant> + <constant name="ROTATION_ORDER_XZY" value="1" enum="RotationOrder"> + </constant> + <constant name="ROTATION_ORDER_YXZ" value="2" enum="RotationOrder"> + </constant> + <constant name="ROTATION_ORDER_YZX" value="3" enum="RotationOrder"> + </constant> + <constant name="ROTATION_ORDER_ZXY" value="4" enum="RotationOrder"> + </constant> + <constant name="ROTATION_ORDER_ZYX" value="5" enum="RotationOrder"> + </constant> </constants> </class> diff --git a/doc/classes/Quaternion.xml b/doc/classes/Quaternion.xml index 1ef6320d61..9c948ca21a 100644 --- a/doc/classes/Quaternion.xml +++ b/doc/classes/Quaternion.xml @@ -43,9 +43,8 @@ </method> <method name="Quaternion" qualifiers="constructor"> <return type="Quaternion" /> - <argument index="0" name="euler" type="Vector3" /> + <argument index="0" name="euler_yxz" type="Vector3" /> <description> - Constructs a quaternion that will perform a rotation specified by Euler angles (in the YXZ convention: when decomposing, first Z, then X, and Y last), given in the vector format as (X angle, Y angle, Z angle). </description> </method> <method name="Quaternion" qualifiers="constructor"> diff --git a/editor/plugins/node_3d_editor_plugin.cpp b/editor/plugins/node_3d_editor_plugin.cpp index e8086e2fea..af58d8bbdc 100644 --- a/editor/plugins/node_3d_editor_plugin.cpp +++ b/editor/plugins/node_3d_editor_plugin.cpp @@ -3253,7 +3253,7 @@ void Node3DEditorViewport::_menu_option(int p_option) { continue; } - undo_redo->add_do_method(sp, "set_rotation", camera_transform.basis.get_rotation()); + undo_redo->add_do_method(sp, "set_rotation", camera_transform.basis.get_euler_normalized()); undo_redo->add_undo_method(sp, "set_rotation", sp->get_rotation()); } undo_redo->commit_action(); diff --git a/modules/csg/csg_shape.cpp b/modules/csg/csg_shape.cpp index 14e7896295..863936ab8c 100644 --- a/modules/csg/csg_shape.cpp +++ b/modules/csg/csg_shape.cpp @@ -576,6 +576,7 @@ void CSGShape3D::_validate_property(PropertyInfo &property) const { } else if (is_collision_prefixed && !bool(get("use_collision"))) { property.usage = PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL; } + GeometryInstance3D::_validate_property(property); } Array CSGShape3D::get_meshes() const { diff --git a/modules/fbx/tools/import_utils.cpp b/modules/fbx/tools/import_utils.cpp index 66b0153308..bb95d120af 100644 --- a/modules/fbx/tools/import_utils.cpp +++ b/modules/fbx/tools/import_utils.cpp @@ -45,27 +45,27 @@ Basis ImportUtils::EulerToBasis(FBXDocParser::Model::RotOrder mode, const Vector // by simply invert its order: https://www.cs.utexas.edu/~theshark/courses/cs354/lectures/cs354-14.pdf switch (mode) { case FBXDocParser::Model::RotOrder_EulerXYZ: - ret.set_euler_zyx(p_rotation); + ret.set_euler(p_rotation, Basis::EULER_ORDER_XYZ); break; case FBXDocParser::Model::RotOrder_EulerXZY: - ret.set_euler_yzx(p_rotation); + ret.set_euler(p_rotation, Basis::EULER_ORDER_XZY); break; case FBXDocParser::Model::RotOrder_EulerYZX: - ret.set_euler_xzy(p_rotation); + ret.set_euler(p_rotation, Basis::EULER_ORDER_YZX); break; case FBXDocParser::Model::RotOrder_EulerYXZ: - ret.set_euler_zxy(p_rotation); + ret.set_euler(p_rotation, Basis::EULER_ORDER_YXZ); break; case FBXDocParser::Model::RotOrder_EulerZXY: - ret.set_euler_yxz(p_rotation); + ret.set_euler(p_rotation, Basis::EULER_ORDER_ZXY); break; case FBXDocParser::Model::RotOrder_EulerZYX: - ret.set_euler_xyz(p_rotation); + ret.set_euler(p_rotation, Basis::EULER_ORDER_ZYX); break; case FBXDocParser::Model::RotOrder_SphericXYZ: @@ -89,22 +89,22 @@ Vector3 ImportUtils::BasisToEuler(FBXDocParser::Model::RotOrder mode, const Basi // by simply invert its order: https://www.cs.utexas.edu/~theshark/courses/cs354/lectures/cs354-14.pdf switch (mode) { case FBXDocParser::Model::RotOrder_EulerXYZ: - return p_rotation.get_euler_zyx(); + return p_rotation.get_euler(Basis::EULER_ORDER_XYZ); case FBXDocParser::Model::RotOrder_EulerXZY: - return p_rotation.get_euler_yzx(); + return p_rotation.get_euler(Basis::EULER_ORDER_XZY); case FBXDocParser::Model::RotOrder_EulerYZX: - return p_rotation.get_euler_xzy(); + return p_rotation.get_euler(Basis::EULER_ORDER_YZX); case FBXDocParser::Model::RotOrder_EulerYXZ: - return p_rotation.get_euler_zxy(); + return p_rotation.get_euler(Basis::EULER_ORDER_YXZ); case FBXDocParser::Model::RotOrder_EulerZXY: - return p_rotation.get_euler_yxz(); + return p_rotation.get_euler(Basis::EULER_ORDER_ZXY); case FBXDocParser::Model::RotOrder_EulerZYX: - return p_rotation.get_euler_xyz(); + return p_rotation.get_euler(Basis::EULER_ORDER_ZYX); case FBXDocParser::Model::RotOrder_SphericXYZ: // TODO diff --git a/modules/gdscript/tests/scripts/runtime/features/stringify.gd b/modules/gdscript/tests/scripts/runtime/features/stringify.gd index de269b92b3..fead2df854 100644 --- a/modules/gdscript/tests/scripts/runtime/features/stringify.gd +++ b/modules/gdscript/tests/scripts/runtime/features/stringify.gd @@ -17,7 +17,7 @@ func test(): print(Plane(1, 2, 3, 4)) print(Quaternion(1, 2, 3, 4)) print(AABB(Vector3.ZERO, Vector3.ONE)) - print(Basis(Vector3(0, 0, 0))) + print(Basis.from_euler(Vector3(0, 0, 0))) print(Transform3D.IDENTITY) print(Color(1, 2, 3, 4)) diff --git a/scene/3d/area_3d.cpp b/scene/3d/area_3d.cpp index d411525707..9179983220 100644 --- a/scene/3d/area_3d.cpp +++ b/scene/3d/area_3d.cpp @@ -580,6 +580,8 @@ void Area3D::_validate_property(PropertyInfo &property) const { property.hint_string = options; } + + CollisionObject3D::_validate_property(property); } void Area3D::_bind_methods() { diff --git a/scene/3d/audio_stream_player_3d.cpp b/scene/3d/audio_stream_player_3d.cpp index 44a685f506..261acbeeb9 100644 --- a/scene/3d/audio_stream_player_3d.cpp +++ b/scene/3d/audio_stream_player_3d.cpp @@ -638,6 +638,8 @@ void AudioStreamPlayer3D::_validate_property(PropertyInfo &property) const { property.hint_string = options; } + + Node3D::_validate_property(property); } void AudioStreamPlayer3D::_bus_layout_changed() { diff --git a/scene/3d/bone_attachment_3d.cpp b/scene/3d/bone_attachment_3d.cpp index 8e89f4fc54..5dc7382197 100644 --- a/scene/3d/bone_attachment_3d.cpp +++ b/scene/3d/bone_attachment_3d.cpp @@ -58,6 +58,8 @@ void BoneAttachment3D::_validate_property(PropertyInfo &property) const { property.hint_string = ""; } } + + Node3D::_validate_property(property); } bool BoneAttachment3D::_set(const StringName &p_path, const Variant &p_value) { diff --git a/scene/3d/camera_3d.cpp b/scene/3d/camera_3d.cpp index 588d2b5018..af3b3ae5bc 100644 --- a/scene/3d/camera_3d.cpp +++ b/scene/3d/camera_3d.cpp @@ -71,6 +71,8 @@ void Camera3D::_validate_property(PropertyInfo &p_property) const { p_property.usage = PROPERTY_USAGE_NOEDITOR; } } + + Node3D::_validate_property(p_property); } void Camera3D::_update_camera() { diff --git a/scene/3d/cpu_particles_3d.cpp b/scene/3d/cpu_particles_3d.cpp index 55feb02fce..f1e800988d 100644 --- a/scene/3d/cpu_particles_3d.cpp +++ b/scene/3d/cpu_particles_3d.cpp @@ -532,6 +532,8 @@ void CPUParticles3D::_validate_property(PropertyInfo &property) const { if (property.name.begins_with("scale_curve_") && !split_scale) { property.usage = PROPERTY_USAGE_NONE; } + + Node3D::_validate_property(property); } static uint32_t idhash(uint32_t x) { diff --git a/scene/3d/decal.cpp b/scene/3d/decal.cpp index c94a99a203..e3c63d62f9 100644 --- a/scene/3d/decal.cpp +++ b/scene/3d/decal.cpp @@ -160,6 +160,7 @@ void Decal::_validate_property(PropertyInfo &property) const { if (!distance_fade_enabled && (property.name == "distance_fade_begin" || property.name == "distance_fade_length")) { property.usage = PROPERTY_USAGE_NOEDITOR; } + VisualInstance3D::_validate_property(property); } TypedArray<String> Decal::get_configuration_warnings() const { diff --git a/scene/3d/gpu_particles_3d.cpp b/scene/3d/gpu_particles_3d.cpp index ea6242b669..13cb8b7dfb 100644 --- a/scene/3d/gpu_particles_3d.cpp +++ b/scene/3d/gpu_particles_3d.cpp @@ -388,6 +388,8 @@ void GPUParticles3D::_validate_property(PropertyInfo &property) const { return; } } + + GeometryInstance3D::_validate_property(property); } void GPUParticles3D::emit_particle(const Transform3D &p_transform, const Vector3 &p_velocity, const Color &p_color, const Color &p_custom, uint32_t p_emit_flags) { diff --git a/scene/3d/light_3d.cpp b/scene/3d/light_3d.cpp index c787ba5087..cd2a41c480 100644 --- a/scene/3d/light_3d.cpp +++ b/scene/3d/light_3d.cpp @@ -215,6 +215,7 @@ void Light3D::_validate_property(PropertyInfo &property) const { if (get_light_type() != RS::LIGHT_DIRECTIONAL && property.name == "light_angular_distance") { property.usage = PROPERTY_USAGE_NONE; } + VisualInstance3D::_validate_property(property); } void Light3D::_bind_methods() { diff --git a/scene/3d/lightmap_gi.cpp b/scene/3d/lightmap_gi.cpp index b56f0fd145..3bcb6add76 100644 --- a/scene/3d/lightmap_gi.cpp +++ b/scene/3d/lightmap_gi.cpp @@ -1370,6 +1370,7 @@ void LightmapGI::_validate_property(PropertyInfo &property) const { if (property.name == "environment_custom_energy" && environment_mode != ENVIRONMENT_MODE_CUSTOM_COLOR && environment_mode != ENVIRONMENT_MODE_CUSTOM_SKY) { property.usage = PROPERTY_USAGE_NONE; } + VisualInstance3D::_validate_property(property); } void LightmapGI::_bind_methods() { diff --git a/scene/3d/node_3d.cpp b/scene/3d/node_3d.cpp index 5293dd3f0a..8a39d4d30f 100644 --- a/scene/3d/node_3d.cpp +++ b/scene/3d/node_3d.cpp @@ -220,6 +220,13 @@ void Node3D::_notification(int p_what) { } } +void Node3D::set_basis(const Basis &p_basis) { + set_transform(Transform3D(p_basis, data.local_transform.origin)); +} +void Node3D::set_quaternion(const Quaternion &p_quaternion) { + set_transform(Transform3D(Basis(p_quaternion), data.local_transform.origin)); +} + void Node3D::set_transform(const Transform3D &p_transform) { data.local_transform = p_transform; data.dirty |= DIRTY_VECTORS; @@ -229,6 +236,13 @@ void Node3D::set_transform(const Transform3D &p_transform) { } } +Basis Node3D::get_basis() const { + return get_transform().basis; +} +Quaternion Node3D::get_quaternion() const { + return Quaternion(get_transform().basis); +} + void Node3D::set_global_transform(const Transform3D &p_transform) { Transform3D xform = (data.parent && !data.top_level_active) ? @@ -308,6 +322,45 @@ void Node3D::set_position(const Vector3 &p_position) { } } +void Node3D::set_rotation_edit_mode(RotationEditMode p_mode) { + if (data.rotation_edit_mode == p_mode) { + return; + } + data.rotation_edit_mode = p_mode; + notify_property_list_changed(); +} + +Node3D::RotationEditMode Node3D::get_rotation_edit_mode() const { + return data.rotation_edit_mode; +} + +void Node3D::set_rotation_order(RotationOrder p_order) { + Basis::EulerOrder order = Basis::EulerOrder(p_order); + + if (data.rotation_order == order) { + return; + } + + ERR_FAIL_INDEX(int32_t(order), 6); + + if (data.dirty & DIRTY_VECTORS) { + data.rotation = data.local_transform.basis.get_euler_normalized(order); + data.scale = data.local_transform.basis.get_scale(); + data.dirty &= ~DIRTY_VECTORS; + } else { + data.rotation = Basis::from_euler(data.rotation, data.rotation_order).get_euler_normalized(order); + } + + data.rotation_order = order; + //changing rotation order should not affect transform + + notify_property_list_changed(); //will change rotation +} + +Node3D::RotationOrder Node3D::get_rotation_order() const { + return RotationOrder(data.rotation_order); +} + void Node3D::set_rotation(const Vector3 &p_euler_rad) { if (data.dirty & DIRTY_VECTORS) { data.scale = data.local_transform.basis.get_scale(); @@ -324,7 +377,7 @@ void Node3D::set_rotation(const Vector3 &p_euler_rad) { void Node3D::set_scale(const Vector3 &p_scale) { if (data.dirty & DIRTY_VECTORS) { - data.rotation = data.local_transform.basis.get_rotation(); + data.rotation = data.local_transform.basis.get_euler_normalized(data.rotation_order); data.dirty &= ~DIRTY_VECTORS; } @@ -343,7 +396,7 @@ Vector3 Node3D::get_position() const { Vector3 Node3D::get_rotation() const { if (data.dirty & DIRTY_VECTORS) { data.scale = data.local_transform.basis.get_scale(); - data.rotation = data.local_transform.basis.get_rotation(); + data.rotation = data.local_transform.basis.get_euler_normalized(data.rotation_order); data.dirty &= ~DIRTY_VECTORS; } @@ -354,7 +407,7 @@ Vector3 Node3D::get_rotation() const { Vector3 Node3D::get_scale() const { if (data.dirty & DIRTY_VECTORS) { data.scale = data.local_transform.basis.get_scale(); - data.rotation = data.local_transform.basis.get_rotation(); + data.rotation = data.local_transform.basis.get_euler_normalized(data.rotation_order); data.dirty &= ~DIRTY_VECTORS; } @@ -780,6 +833,24 @@ NodePath Node3D::get_visibility_parent() const { return visibility_parent_path; } +void Node3D::_validate_property(PropertyInfo &property) const { + if (data.rotation_edit_mode != ROTATION_EDIT_MODE_BASIS && property.name == "basis") { + property.usage = 0; + } + if (data.rotation_edit_mode == ROTATION_EDIT_MODE_BASIS && property.name == "scale") { + property.usage = 0; + } + if (data.rotation_edit_mode != ROTATION_EDIT_MODE_QUATERNION && property.name == "quaternion") { + property.usage = 0; + } + if (data.rotation_edit_mode != ROTATION_EDIT_MODE_EULER && property.name == "rotation") { + property.usage = 0; + } + if (data.rotation_edit_mode != ROTATION_EDIT_MODE_EULER && property.name == "rotation_order") { + property.usage = 0; + } +} + void Node3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_transform", "local"), &Node3D::set_transform); ClassDB::bind_method(D_METHOD("get_transform"), &Node3D::get_transform); @@ -787,8 +858,16 @@ void Node3D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_position"), &Node3D::get_position); ClassDB::bind_method(D_METHOD("set_rotation", "euler"), &Node3D::set_rotation); ClassDB::bind_method(D_METHOD("get_rotation"), &Node3D::get_rotation); + ClassDB::bind_method(D_METHOD("set_rotation_order", "order"), &Node3D::set_rotation_order); + ClassDB::bind_method(D_METHOD("get_rotation_order"), &Node3D::get_rotation_order); + ClassDB::bind_method(D_METHOD("set_rotation_edit_mode", "edit_mode"), &Node3D::set_rotation_edit_mode); + ClassDB::bind_method(D_METHOD("get_rotation_edit_mode"), &Node3D::get_rotation_edit_mode); ClassDB::bind_method(D_METHOD("set_scale", "scale"), &Node3D::set_scale); ClassDB::bind_method(D_METHOD("get_scale"), &Node3D::get_scale); + ClassDB::bind_method(D_METHOD("set_quaternion", "quaternion"), &Node3D::set_quaternion); + ClassDB::bind_method(D_METHOD("get_quaternion"), &Node3D::get_quaternion); + ClassDB::bind_method(D_METHOD("set_basis", "basis"), &Node3D::set_basis); + ClassDB::bind_method(D_METHOD("get_basis"), &Node3D::get_basis); ClassDB::bind_method(D_METHOD("set_global_transform", "global"), &Node3D::set_global_transform); ClassDB::bind_method(D_METHOD("get_global_transform"), &Node3D::get_global_transform); ClassDB::bind_method(D_METHOD("get_parent_node_3d"), &Node3D::get_parent_node_3d); @@ -848,15 +927,29 @@ void Node3D::_bind_methods() { BIND_CONSTANT(NOTIFICATION_EXIT_WORLD); BIND_CONSTANT(NOTIFICATION_VISIBILITY_CHANGED); + BIND_ENUM_CONSTANT(ROTATION_EDIT_MODE_EULER); + BIND_ENUM_CONSTANT(ROTATION_EDIT_MODE_QUATERNION); + BIND_ENUM_CONSTANT(ROTATION_EDIT_MODE_BASIS); + + BIND_ENUM_CONSTANT(ROTATION_ORDER_XYZ); + BIND_ENUM_CONSTANT(ROTATION_ORDER_XZY); + BIND_ENUM_CONSTANT(ROTATION_ORDER_YXZ); + BIND_ENUM_CONSTANT(ROTATION_ORDER_YZX); + BIND_ENUM_CONSTANT(ROTATION_ORDER_ZXY); + BIND_ENUM_CONSTANT(ROTATION_ORDER_ZYX); + //ADD_PROPERTY( PropertyInfo(Variant::TRANSFORM3D,"transform/global",PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR ), "set_global_transform", "get_global_transform") ; ADD_GROUP("Transform", ""); ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "global_transform", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NONE), "set_global_transform", "get_global_transform"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "position", PROPERTY_HINT_RANGE, "-99999,99999,0,or_greater,or_lesser,noslider,suffix:m", PROPERTY_USAGE_EDITOR), "set_position", "get_position"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "rotation", PROPERTY_HINT_RANGE, "-360,360,0.1,or_lesser,or_greater,radians", PROPERTY_USAGE_EDITOR), "set_rotation", "get_rotation"); + ADD_PROPERTY(PropertyInfo(Variant::QUATERNION, "quaternion", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR), "set_quaternion", "get_quaternion"); + ADD_PROPERTY(PropertyInfo(Variant::BASIS, "basis", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR), "set_basis", "get_basis"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "scale", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR), "set_scale", "get_scale"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "rotation_edit_mode", PROPERTY_HINT_ENUM, "Euler,Quaternion,Basis"), "set_rotation_edit_mode", "get_rotation_edit_mode"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "rotation_order", PROPERTY_HINT_ENUM, "XYZ,XZY,YXZ,YZX,ZXY,ZYX"), "set_rotation_order", "get_rotation_order"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "top_level"), "set_as_top_level", "is_set_as_top_level"); - ADD_GROUP("Matrix", ""); - ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "transform", PROPERTY_HINT_NONE, ""), "set_transform", "get_transform"); + ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "transform", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_transform", "get_transform"); ADD_GROUP("Visibility", ""); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "visible"), "set_visible", "is_visible"); ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "visibility_parent", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "GeometryInstance3D"), "set_visibility_parent", "get_visibility_parent"); diff --git a/scene/3d/node_3d.h b/scene/3d/node_3d.h index d6dcdd96fe..3e21eb12be 100644 --- a/scene/3d/node_3d.h +++ b/scene/3d/node_3d.h @@ -51,6 +51,23 @@ class Node3D : public Node { GDCLASS(Node3D, Node); OBJ_CATEGORY("3D"); +public: + enum RotationEditMode { + ROTATION_EDIT_MODE_EULER, + ROTATION_EDIT_MODE_QUATERNION, + ROTATION_EDIT_MODE_BASIS, + }; + + enum RotationOrder { + ROTATION_ORDER_XYZ, + ROTATION_ORDER_XZY, + ROTATION_ORDER_YXZ, + ROTATION_ORDER_YZX, + ROTATION_ORDER_ZXY, + ROTATION_ORDER_ZYX + }; + +private: enum TransformDirty { DIRTY_NONE = 0, DIRTY_VECTORS = 1, @@ -63,8 +80,10 @@ class Node3D : public Node { struct Data { mutable Transform3D global_transform; mutable Transform3D local_transform; + mutable Basis::EulerOrder rotation_order = Basis::EULER_ORDER_YXZ; mutable Vector3 rotation; mutable Vector3 scale = Vector3(1, 1, 1); + mutable RotationEditMode rotation_edit_mode = ROTATION_EDIT_MODE_EULER; mutable int dirty = DIRTY_NONE; @@ -116,6 +135,8 @@ protected: void _notification(int p_what); static void _bind_methods(); + virtual void _validate_property(PropertyInfo &property) const override; + public: enum { NOTIFICATION_TRANSFORM_CHANGED = SceneTree::NOTIFICATION_TRANSFORM_CHANGED, @@ -130,17 +151,28 @@ public: Ref<World3D> get_world_3d() const; void set_position(const Vector3 &p_position); + + void set_rotation_edit_mode(RotationEditMode p_mode); + RotationEditMode get_rotation_edit_mode() const; + + void set_rotation_order(RotationOrder p_order); void set_rotation(const Vector3 &p_euler_rad); void set_scale(const Vector3 &p_scale); Vector3 get_position() const; + + RotationOrder get_rotation_order() const; Vector3 get_rotation() const; Vector3 get_scale() const; void set_transform(const Transform3D &p_transform); + void set_basis(const Basis &p_basis); + void set_quaternion(const Quaternion &p_quaternion); void set_global_transform(const Transform3D &p_transform); Transform3D get_transform() const; + Basis get_basis() const; + Quaternion get_quaternion() const; Transform3D get_global_transform() const; #ifdef TOOLS_ENABLED @@ -214,4 +246,7 @@ public: Node3D(); }; +VARIANT_ENUM_CAST(Node3D::RotationEditMode) +VARIANT_ENUM_CAST(Node3D::RotationOrder) + #endif // NODE_3D_H diff --git a/scene/3d/path_3d.cpp b/scene/3d/path_3d.cpp index 9ea37e4bfa..a0eac76e39 100644 --- a/scene/3d/path_3d.cpp +++ b/scene/3d/path_3d.cpp @@ -248,6 +248,7 @@ void PathFollow3D::_validate_property(PropertyInfo &property) const { property.hint_string = "0," + rtos(max) + ",0.01,or_lesser,or_greater"; } + Node3D::_validate_property(property); } TypedArray<String> PathFollow3D::get_configuration_warnings() const { diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp index 8cb348d6e3..4f1003839e 100644 --- a/scene/3d/physics_body_3d.cpp +++ b/scene/3d/physics_body_3d.cpp @@ -1059,6 +1059,7 @@ void RigidDynamicBody3D::_validate_property(PropertyInfo &property) const { property.usage = PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL; } } + PhysicsBody3D::_validate_property(property); } RigidDynamicBody3D::RigidDynamicBody3D() : @@ -1933,6 +1934,7 @@ void CharacterBody3D::_validate_property(PropertyInfo &property) const { property.usage = PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL; } } + PhysicsBody3D::_validate_property(property); } CharacterBody3D::CharacterBody3D() : @@ -3060,7 +3062,7 @@ void PhysicalBone3D::set_joint_rotation(const Vector3 &p_euler_rad) { } Vector3 PhysicalBone3D::get_joint_rotation() const { - return joint_offset.basis.get_rotation(); + return joint_offset.basis.get_euler_normalized(); } const Transform3D &PhysicalBone3D::get_body_offset() const { diff --git a/scene/3d/reflection_probe.cpp b/scene/3d/reflection_probe.cpp index 719dbedd94..29c382cd05 100644 --- a/scene/3d/reflection_probe.cpp +++ b/scene/3d/reflection_probe.cpp @@ -188,6 +188,7 @@ void ReflectionProbe::_validate_property(PropertyInfo &property) const { property.usage = PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL; } } + VisualInstance3D::_validate_property(property); } void ReflectionProbe::_bind_methods() { diff --git a/scene/3d/remote_transform_3d.cpp b/scene/3d/remote_transform_3d.cpp index d5fb1fa6ab..d890609e23 100644 --- a/scene/3d/remote_transform_3d.cpp +++ b/scene/3d/remote_transform_3d.cpp @@ -68,7 +68,7 @@ void RemoteTransform3D::_update_remote() { Transform3D our_trans = get_global_transform(); if (update_remote_rotation) { - n->set_rotation(our_trans.basis.get_rotation()); + n->set_rotation(our_trans.basis.get_euler_normalized(Basis::EulerOrder(n->get_rotation_order()))); } if (update_remote_scale) { @@ -90,7 +90,7 @@ void RemoteTransform3D::_update_remote() { Transform3D our_trans = get_transform(); if (update_remote_rotation) { - n->set_rotation(our_trans.basis.get_rotation()); + n->set_rotation(our_trans.basis.get_euler_normalized(Basis::EulerOrder(n->get_rotation_order()))); } if (update_remote_scale) { diff --git a/scene/3d/skeleton_ik_3d.cpp b/scene/3d/skeleton_ik_3d.cpp index 2e788051f4..1498955ec0 100644 --- a/scene/3d/skeleton_ik_3d.cpp +++ b/scene/3d/skeleton_ik_3d.cpp @@ -351,6 +351,8 @@ void SkeletonIK3D::_validate_property(PropertyInfo &property) const { property.hint_string = ""; } } + + Node::_validate_property(property); } void SkeletonIK3D::_bind_methods() { diff --git a/scene/3d/skeleton_ik_3d.h b/scene/3d/skeleton_ik_3d.h index 4cf08e7c99..ccb25bcd4c 100644 --- a/scene/3d/skeleton_ik_3d.h +++ b/scene/3d/skeleton_ik_3d.h @@ -137,8 +137,7 @@ class SkeletonIK3D : public Node { FabrikInverseKinematic::Task *task = nullptr; protected: - virtual void - _validate_property(PropertyInfo &property) const override; + virtual void _validate_property(PropertyInfo &property) const override; static void _bind_methods(); virtual void _notification(int p_what); diff --git a/scene/3d/sprite_3d.cpp b/scene/3d/sprite_3d.cpp index 349a534680..90af70e7c2 100644 --- a/scene/3d/sprite_3d.cpp +++ b/scene/3d/sprite_3d.cpp @@ -743,6 +743,8 @@ void Sprite3D::_validate_property(PropertyInfo &property) const { if (property.name == "frame_coords") { property.usage |= PROPERTY_USAGE_KEYING_INCREMENTS; } + + SpriteBase3D::_validate_property(property); } void Sprite3D::_bind_methods() { @@ -1015,6 +1017,8 @@ void AnimatedSprite3D::_validate_property(PropertyInfo &property) const { } property.usage |= PROPERTY_USAGE_KEYING_INCREMENTS; } + + SpriteBase3D::_validate_property(property); } void AnimatedSprite3D::_notification(int p_what) { diff --git a/scene/3d/xr_nodes.cpp b/scene/3d/xr_nodes.cpp index 9dbee58f0e..a16820cbdc 100644 --- a/scene/3d/xr_nodes.cpp +++ b/scene/3d/xr_nodes.cpp @@ -261,6 +261,8 @@ void XRNode3D::_validate_property(PropertyInfo &property) const { } property.hint_string = hint_string; } + + Node3D::_validate_property(property); } void XRNode3D::set_tracker(const StringName p_tracker_name) { diff --git a/scene/animation/animation_player.cpp b/scene/animation/animation_player.cpp index 1f000d5f39..26caf826a7 100644 --- a/scene/animation/animation_player.cpp +++ b/scene/animation/animation_player.cpp @@ -166,6 +166,8 @@ void AnimationPlayer::_validate_property(PropertyInfo &property) const { property.hint_string = hint; } + + Node::_validate_property(property); } void AnimationPlayer::_get_property_list(List<PropertyInfo> *p_list) const { diff --git a/scene/audio/audio_stream_player.cpp b/scene/audio/audio_stream_player.cpp index d2fd65d3d9..5065f21604 100644 --- a/scene/audio/audio_stream_player.cpp +++ b/scene/audio/audio_stream_player.cpp @@ -292,6 +292,8 @@ void AudioStreamPlayer::_validate_property(PropertyInfo &property) const { property.hint_string = options; } + + Node::_validate_property(property); } void AudioStreamPlayer::_bus_layout_changed() { diff --git a/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp index d7e0537439..b88e2d1190 100644 --- a/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp @@ -232,7 +232,7 @@ GodotGeneric6DOFJoint3D::GodotGeneric6DOFJoint3D(GodotBody3D *rbA, GodotBody3D * void GodotGeneric6DOFJoint3D::calculateAngleInfo() { Basis relative_frame = m_calculatedTransformB.basis.inverse() * m_calculatedTransformA.basis; - m_calculatedAxisAngleDiff = relative_frame.get_euler_xyz(); + m_calculatedAxisAngleDiff = relative_frame.get_euler(Basis::EULER_ORDER_XYZ); // in euler angle mode we do not actually constrain the angular velocity // along the axes axis[0] and axis[2] (although we do use axis[1]) : diff --git a/tests/test_basis.h b/tests/test_basis.h index 11c68f9eb7..b254d9fb7f 100644 --- a/tests/test_basis.h +++ b/tests/test_basis.h @@ -60,27 +60,27 @@ Basis EulerToBasis(RotOrder mode, const Vector3 &p_rotation) { Basis ret; switch (mode) { case EulerXYZ: - ret.set_euler_xyz(p_rotation); + ret.set_euler(p_rotation, Basis::EULER_ORDER_XYZ); break; case EulerXZY: - ret.set_euler_xzy(p_rotation); + ret.set_euler(p_rotation, Basis::EULER_ORDER_XZY); break; case EulerYZX: - ret.set_euler_yzx(p_rotation); + ret.set_euler(p_rotation, Basis::EULER_ORDER_YZX); break; case EulerYXZ: - ret.set_euler_yxz(p_rotation); + ret.set_euler(p_rotation, Basis::EULER_ORDER_YXZ); break; case EulerZXY: - ret.set_euler_zxy(p_rotation); + ret.set_euler(p_rotation, Basis::EULER_ORDER_ZXY); break; case EulerZYX: - ret.set_euler_zyx(p_rotation); + ret.set_euler(p_rotation, Basis::EULER_ORDER_ZYX); break; default: @@ -94,22 +94,22 @@ Basis EulerToBasis(RotOrder mode, const Vector3 &p_rotation) { Vector3 BasisToEuler(RotOrder mode, const Basis &p_rotation) { switch (mode) { case EulerXYZ: - return p_rotation.get_euler_xyz(); + return p_rotation.get_euler(Basis::EULER_ORDER_XYZ); case EulerXZY: - return p_rotation.get_euler_xzy(); + return p_rotation.get_euler(Basis::EULER_ORDER_XZY); case EulerYZX: - return p_rotation.get_euler_yzx(); + return p_rotation.get_euler(Basis::EULER_ORDER_YZX); case EulerYXZ: - return p_rotation.get_euler_yxz(); + return p_rotation.get_euler(Basis::EULER_ORDER_YXZ); case EulerZXY: - return p_rotation.get_euler_zxy(); + return p_rotation.get_euler(Basis::EULER_ORDER_ZXY); case EulerZYX: - return p_rotation.get_euler_zyx(); + return p_rotation.get_euler(Basis::EULER_ORDER_ZYX); default: // If you land here, Please integrate all rotation orders. @@ -170,9 +170,9 @@ void test_rotation(Vector3 deg_original_euler, RotOrder rot_order) { CHECK_MESSAGE((res.get_axis(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Fail due to Z %s\n", String(res.get_axis(2))).utf8().ptr()); // Double check `to_rotation` decomposing with XYZ rotation order. - const Vector3 euler_xyz_from_rotation = to_rotation.get_euler_xyz(); + const Vector3 euler_xyz_from_rotation = to_rotation.get_euler(Basis::EULER_ORDER_XYZ); Basis rotation_from_xyz_computed_euler; - rotation_from_xyz_computed_euler.set_euler_xyz(euler_xyz_from_rotation); + rotation_from_xyz_computed_euler.set_euler(euler_xyz_from_rotation, Basis::EULER_ORDER_XYZ); res = to_rotation.inverse() * rotation_from_xyz_computed_euler; |