diff options
| -rw-r--r-- | core/math/quaternion.cpp | 52 | ||||
| -rw-r--r-- | doc/classes/ShapeCast2D.xml | 18 | ||||
| -rw-r--r-- | doc/classes/ShapeCast3D.xml | 24 | ||||
| -rw-r--r-- | platform/linuxbsd/detect.py | 1 |
4 files changed, 50 insertions, 45 deletions
diff --git a/core/math/quaternion.cpp b/core/math/quaternion.cpp index 252c108166..c681c60694 100644 --- a/core/math/quaternion.cpp +++ b/core/math/quaternion.cpp @@ -188,45 +188,49 @@ Quaternion Quaternion::spherical_cubic_interpolate(const Quaternion &p_b, const ERR_FAIL_COND_V_MSG(!is_normalized(), Quaternion(), "The start quaternion must be normalized."); ERR_FAIL_COND_V_MSG(!p_b.is_normalized(), Quaternion(), "The end quaternion must be normalized."); #endif - Quaternion ret_q = *this; + Quaternion from_q = *this; Quaternion pre_q = p_pre_a; Quaternion to_q = p_b; Quaternion post_q = p_post_b; // Align flip phases. - ret_q = Basis(ret_q).get_rotation_quaternion(); + from_q = Basis(from_q).get_rotation_quaternion(); pre_q = Basis(pre_q).get_rotation_quaternion(); to_q = Basis(to_q).get_rotation_quaternion(); post_q = Basis(post_q).get_rotation_quaternion(); // Flip quaternions to shortest path if necessary. - bool flip1 = signbit(ret_q.dot(pre_q)); + bool flip1 = signbit(from_q.dot(pre_q)); pre_q = flip1 ? -pre_q : pre_q; - bool flip2 = signbit(ret_q.dot(to_q)); + bool flip2 = signbit(from_q.dot(to_q)); to_q = flip2 ? -to_q : to_q; bool flip3 = flip2 ? to_q.dot(post_q) <= 0 : signbit(to_q.dot(post_q)); post_q = flip3 ? -post_q : post_q; - if (flip1 || flip2 || flip3) { - // Angle is too large, calc by Approximate. - ret_q.x = Math::cubic_interpolate(ret_q.x, to_q.x, pre_q.x, post_q.x, p_weight); - ret_q.y = Math::cubic_interpolate(ret_q.y, to_q.y, pre_q.y, post_q.y, p_weight); - ret_q.z = Math::cubic_interpolate(ret_q.z, to_q.z, pre_q.z, post_q.z, p_weight); - ret_q.w = Math::cubic_interpolate(ret_q.w, to_q.w, pre_q.w, post_q.w, p_weight); - ret_q.normalize(); - } else { - // Calc by Expmap. - Quaternion ln_ret = ret_q.log(); - Quaternion ln_to = to_q.log(); - Quaternion ln_pre = pre_q.log(); - Quaternion ln_post = post_q.log(); - Quaternion ln = Quaternion(0, 0, 0, 0); - ln.x = Math::cubic_interpolate(ln_ret.x, ln_to.x, ln_pre.x, ln_post.x, p_weight); - ln.y = Math::cubic_interpolate(ln_ret.y, ln_to.y, ln_pre.y, ln_post.y, p_weight); - ln.z = Math::cubic_interpolate(ln_ret.z, ln_to.z, ln_pre.z, ln_post.z, p_weight); - ret_q = ln.exp(); - } - return ret_q; + // Calc by Expmap in from_q space. + Quaternion ln_from = Quaternion(0, 0, 0, 0); + Quaternion ln_to = (from_q.inverse() * to_q).log(); + Quaternion ln_pre = (from_q.inverse() * pre_q).log(); + Quaternion ln_post = (from_q.inverse() * post_q).log(); + Quaternion ln = Quaternion(0, 0, 0, 0); + ln.x = Math::cubic_interpolate(ln_from.x, ln_to.x, ln_pre.x, ln_post.x, p_weight); + ln.y = Math::cubic_interpolate(ln_from.y, ln_to.y, ln_pre.y, ln_post.y, p_weight); + ln.z = Math::cubic_interpolate(ln_from.z, ln_to.z, ln_pre.z, ln_post.z, p_weight); + Quaternion q1 = from_q * ln.exp(); + + // Calc by Expmap in to_q space. + ln_from = (to_q.inverse() * from_q).log(); + ln_to = Quaternion(0, 0, 0, 0); + ln_pre = (to_q.inverse() * pre_q).log(); + ln_post = (to_q.inverse() * post_q).log(); + ln = Quaternion(0, 0, 0, 0); + ln.x = Math::cubic_interpolate(ln_from.x, ln_to.x, ln_pre.x, ln_post.x, p_weight); + ln.y = Math::cubic_interpolate(ln_from.y, ln_to.y, ln_pre.y, ln_post.y, p_weight); + ln.z = Math::cubic_interpolate(ln_from.z, ln_to.z, ln_pre.z, ln_post.z, p_weight); + Quaternion q2 = to_q * ln.exp(); + + // To cancel error made by Expmap ambiguity, do blends. + return q1.slerp(q2, p_weight); } Quaternion::operator String() const { diff --git a/doc/classes/ShapeCast2D.xml b/doc/classes/ShapeCast2D.xml index 5fcb60dd09..70da03dc6e 100644 --- a/doc/classes/ShapeCast2D.xml +++ b/doc/classes/ShapeCast2D.xml @@ -6,7 +6,7 @@ <description> Shape casting allows to detect collision objects by sweeping the [member shape] along the cast direction determined by [member target_position] (useful for things like beam weapons). Immediate collision overlaps can be done with the [member target_position] set to [code]Vector2(0, 0)[/code] and by calling [method force_shapecast_update] within the same [b]physics_frame[/b]. This also helps to overcome some limitations of [Area2D] when used as a continuous detection area, often requiring waiting a couple of frames before collision information is available to [Area2D] nodes, and when using the signals creates unnecessary complexity. - The node can detect multiple collision objects, but usually the first detected collision + The node can detect multiple collision objects, but it's usually used to detect the first collision. [b]Note:[/b] shape casting is more computationally expensive compared to ray casting. </description> <tutorials> @@ -42,27 +42,27 @@ <method name="get_closest_collision_safe_fraction" qualifiers="const"> <return type="float" /> <description> - The fraction of the motion (between 0 and 1) of how far the shape can move without triggering a collision. The motion is determined by [member target_position]. + The fraction from the [ShapeCast2D]'s origin to its [member target_position] (between 0 and 1) of how far the shape can move without triggering a collision. </description> </method> <method name="get_closest_collision_unsafe_fraction" qualifiers="const"> <return type="float" /> <description> - The fraction of the motion (between 0 and 1) when the shape triggers a collision. The motion is determined by [member target_position]. + The fraction from the [ShapeCast2D]'s origin to its [member target_position] (between 0 and 1) of how far the shape must move to trigger a collision. </description> </method> <method name="get_collider" qualifiers="const"> <return type="Object" /> <argument index="0" name="index" type="int" /> <description> - Returns the [Object] of one of the multiple collisions at [code]index[/code], or [code]null[/code] if no object is intersecting the shape (i.e. [method is_colliding] returns [code]false[/code]). + Returns the collided [Object] of one of the multiple collisions at [code]index[/code], or [code]null[/code] if no object is intersecting the shape (i.e. [method is_colliding] returns [code]false[/code]). </description> </method> <method name="get_collider_shape" qualifiers="const"> <return type="int" /> <argument index="0" name="index" type="int" /> <description> - Returns the shape ID of one of the multiple collisions at [code]index[/code] that the shape intersects, or [code]0[/code] if no object is intersecting the shape (i.e. [method is_colliding] returns [code]false[/code]). + Returns the shape ID of the colliding shape of one of the multiple collisions at [code]index[/code], or [code]0[/code] if no object is intersecting the shape (i.e. [method is_colliding] returns [code]false[/code]). </description> </method> <method name="get_collision_count" qualifiers="const"> @@ -82,14 +82,14 @@ <return type="Vector2" /> <argument index="0" name="index" type="int" /> <description> - Returns the normal containing one of the multiple collisions at [code]index[/code] of the intersecting object. + Returns the normal of one of the multiple collisions at [code]index[/code] of the intersecting object. </description> </method> <method name="get_collision_point" qualifiers="const"> <return type="Vector2" /> <argument index="0" name="index" type="int" /> <description> - Returns the collision point containing one of the multiple collisions at [code]index[/code] at which the shape intersects the object. + Returns the collision point of one of the multiple collisions at [code]index[/code] where the shape intersects the colliding object. [b]Note:[/b] this point is in the [b]global[/b] coordinate system. </description> </method> @@ -133,7 +133,7 @@ The shape's collision mask. Only objects in at least one collision layer enabled in the mask will be detected. </member> <member name="collision_result" type="Array" setter="" getter="_get_collision_result" default="[]"> - A complete collision information. The data returned is the same as in the [method PhysicsDirectSpaceState2D.get_rest_info] method. + Returns the complete collision information from the collision sweep. The data returned is the same as in the [method PhysicsDirectSpaceState2D.get_rest_info] method. </member> <member name="enabled" type="bool" setter="set_enabled" getter="is_enabled" default="true"> If [code]true[/code], collisions will be reported. @@ -148,7 +148,7 @@ The number of intersections can be limited with this parameter, to reduce the processing time. </member> <member name="shape" type="Shape2D" setter="set_shape" getter="get_shape"> - Any [Shape2D] derived shape used for collision queries. + The [Shape2D]-derived shape to be used for collision queries. </member> <member name="target_position" type="Vector2" setter="set_target_position" getter="get_target_position" default="Vector2(0, 50)"> The shape's destination point, relative to this node's [code]position[/code]. diff --git a/doc/classes/ShapeCast3D.xml b/doc/classes/ShapeCast3D.xml index 1f2ea96f42..085bc9acd1 100644 --- a/doc/classes/ShapeCast3D.xml +++ b/doc/classes/ShapeCast3D.xml @@ -6,7 +6,7 @@ <description> Shape casting allows to detect collision objects by sweeping the [member shape] along the cast direction determined by [member target_position] (useful for things like beam weapons). Immediate collision overlaps can be done with the [member target_position] set to [code]Vector3(0, 0, 0)[/code] and by calling [method force_shapecast_update] within the same [b]physics_frame[/b]. This also helps to overcome some limitations of [Area3D] when used as a continuous detection area, often requiring waiting a couple of frames before collision information is available to [Area3D] nodes, and when using the signals creates unnecessary complexity. - The node can detect multiple collision objects, but usually the first detected collision. + The node can detect multiple collision objects, but it's usually used to detect the first collision. [b]Note:[/b] Shape casting is more computationally expensive compared to ray casting. </description> <tutorials> @@ -29,7 +29,7 @@ <method name="clear_exceptions"> <return type="void" /> <description> - Removes all collision exceptions for this shape. + Removes all collision exceptions for this [ShapeCast3D]. </description> </method> <method name="force_shapecast_update"> @@ -42,27 +42,27 @@ <method name="get_closest_collision_safe_fraction" qualifiers="const"> <return type="float" /> <description> - The fraction of the motion (between 0 and 1) of how far the shape can move without triggering a collision. The motion is determined by [member target_position]. + The fraction from the [ShapeCast3D]'s origin to its [member target_position] (between 0 and 1) of how far the shape can move without triggering a collision. </description> </method> <method name="get_closest_collision_unsafe_fraction" qualifiers="const"> <return type="float" /> <description> - The fraction of the motion (between 0 and 1) when the shape triggers a collision. The motion is determined by [member target_position]. + The fraction from the [ShapeCast3D]'s origin to its [member target_position] (between 0 and 1) of how far the shape must move to trigger a collision. </description> </method> <method name="get_collider" qualifiers="const"> <return type="Object" /> <argument index="0" name="index" type="int" /> <description> - Returns the [Object] of one of the multiple collisions at [code]index[/code], or [code]null[/code] if no object is intersecting the shape (i.e. [method is_colliding] returns [code]false[/code]). + Returns the collided [Object] of one of the multiple collisions at [code]index[/code], or [code]null[/code] if no object is intersecting the shape (i.e. [method is_colliding] returns [code]false[/code]). </description> </method> <method name="get_collider_shape" qualifiers="const"> <return type="int" /> <argument index="0" name="index" type="int" /> <description> - Returns the shape ID of one of the multiple collisions at [code]index[/code] that the shape intersects, or [code]0[/code] if no object is intersecting the shape (i.e. [method is_colliding] returns [code]false[/code]). + Returns the shape ID of the colliding shape of one of the multiple collisions at [code]index[/code], or [code]0[/code] if no object is intersecting the shape (i.e. [method is_colliding] returns [code]false[/code]). </description> </method> <method name="get_collision_count" qualifiers="const"> @@ -82,14 +82,14 @@ <return type="Vector3" /> <argument index="0" name="index" type="int" /> <description> - Returns the normal containing one of the multiple collisions at [code]index[/code] of the intersecting object. + Returns the normal of one of the multiple collisions at [code]index[/code] of the intersecting object. </description> </method> <method name="get_collision_point" qualifiers="const"> <return type="Vector3" /> <argument index="0" name="index" type="int" /> <description> - Returns the collision point containing one of the multiple collisions at [code]index[/code] at which the shape intersects the object. + Returns the collision point of one of the multiple collisions at [code]index[/code] where the shape intersects the colliding object. [b]Note:[/b] this point is in the [b]global[/b] coordinate system. </description> </method> @@ -117,7 +117,7 @@ <return type="void" /> <argument index="0" name="resource" type="Resource" /> <description> - Used internally to update the debug gizmo in the editor. Any code placed in this function will be called whenever the [member shape] resource is modified. + This method is used internally to update the debug gizmo in the editor. Any code placed in this function will be called whenever the [member shape] resource is modified. </description> </method> <method name="set_collision_mask_value"> @@ -137,10 +137,10 @@ If [code]true[/code], collision with [PhysicsBody3D]s will be reported. </member> <member name="collision_mask" type="int" setter="set_collision_mask" getter="get_collision_mask" default="1"> - The shape's collision mask. Only objects in at least one collision layer enabled in the mask will be detected. + The shape's collision mask. Only objects in at least one collision layer enabled in the mask will be detected. See [url=$DOCS_URL/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information. </member> <member name="collision_result" type="Array" setter="" getter="_get_collision_result" default="[]"> - A complete collision information. The data returned is the same as in the [method PhysicsDirectSpaceState3D.get_rest_info] method. + Returns the complete collision information from the collision sweep. The data returned is the same as in the [method PhysicsDirectSpaceState3D.get_rest_info] method. </member> <member name="debug_shape_custom_color" type="Color" setter="set_debug_shape_custom_color" getter="get_debug_shape_custom_color" default="Color(0, 0, 0, 1)"> The custom color to use to draw the shape in the editor and at run-time if [b]Visible Collision Shapes[/b] is enabled in the [b]Debug[/b] menu. This color will be highlighted at run-time if the [ShapeCast3D] is colliding with something. @@ -159,7 +159,7 @@ The number of intersections can be limited with this parameter, to reduce the processing time. </member> <member name="shape" type="Shape3D" setter="set_shape" getter="get_shape"> - Any [Shape3D] derived shape used for collision queries. + The [Shape3D]-derived shape to be used for collision queries. </member> <member name="target_position" type="Vector3" setter="set_target_position" getter="get_target_position" default="Vector3(0, -1, 0)"> The shape's destination point, relative to this node's [code]position[/code]. diff --git a/platform/linuxbsd/detect.py b/platform/linuxbsd/detect.py index 87fe2ced33..00e2b9e6eb 100644 --- a/platform/linuxbsd/detect.py +++ b/platform/linuxbsd/detect.py @@ -327,6 +327,7 @@ def configure(env): env.Append(CPPDEFINES=["DBUS_ENABLED"]) env.ParseConfig("pkg-config dbus-1 --cflags") # Only cflags, we dlopen the library. else: + env["dbus"] = False print("Warning: D-Bus development libraries not found. Disabling screensaver prevention.") if env["speechd"]: |