diff options
Diffstat (limited to 'core/math/basis.cpp')
| -rw-r--r-- | core/math/basis.cpp | 25 |
1 files changed, 12 insertions, 13 deletions
diff --git a/core/math/basis.cpp b/core/math/basis.cpp index 65353d8118..f8e7c47107 100644 --- a/core/math/basis.cpp +++ b/core/math/basis.cpp @@ -365,12 +365,12 @@ Basis Basis::rotated_local(const Vector3 &p_axis, real_t p_angle) const { return (*this) * Basis(p_axis, p_angle); } -Basis Basis::rotated(const Vector3 &p_euler) const { - return Basis(p_euler) * (*this); +Basis Basis::rotated(const Vector3 &p_euler, EulerOrder p_order) const { + return Basis::from_euler(p_euler, p_order) * (*this); } -void Basis::rotate(const Vector3 &p_euler) { - *this = rotated(p_euler); +void Basis::rotate(const Vector3 &p_euler, EulerOrder p_order) { + *this = rotated(p_euler, p_order); } Basis Basis::rotated(const Quaternion &p_quaternion) const { @@ -817,14 +817,13 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const { #endif */ real_t angle, x, y, z; // variables for result - real_t epsilon = 0.01; // margin to allow for rounding errors - real_t epsilon2 = 0.1; // margin to distinguish between 0 and 180 degrees + real_t angle_epsilon = 0.1; // margin to distinguish between 0 and 180 degrees - if ((Math::abs(rows[1][0] - rows[0][1]) < epsilon) && (Math::abs(rows[2][0] - rows[0][2]) < epsilon) && (Math::abs(rows[2][1] - rows[1][2]) < epsilon)) { + if ((Math::abs(rows[1][0] - rows[0][1]) < CMP_EPSILON) && (Math::abs(rows[2][0] - rows[0][2]) < CMP_EPSILON) && (Math::abs(rows[2][1] - rows[1][2]) < CMP_EPSILON)) { // singularity found // first check for identity matrix which must have +1 for all terms // in leading diagonal and zero in other terms - if ((Math::abs(rows[1][0] + rows[0][1]) < epsilon2) && (Math::abs(rows[2][0] + rows[0][2]) < epsilon2) && (Math::abs(rows[2][1] + rows[1][2]) < epsilon2) && (Math::abs(rows[0][0] + rows[1][1] + rows[2][2] - 3) < epsilon2)) { + if ((Math::abs(rows[1][0] + rows[0][1]) < angle_epsilon) && (Math::abs(rows[2][0] + rows[0][2]) < angle_epsilon) && (Math::abs(rows[2][1] + rows[1][2]) < angle_epsilon) && (Math::abs(rows[0][0] + rows[1][1] + rows[2][2] - 3) < angle_epsilon)) { // this singularity is identity matrix so angle = 0 r_axis = Vector3(0, 1, 0); r_angle = 0; @@ -839,7 +838,7 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const { real_t xz = (rows[2][0] + rows[0][2]) / 4; real_t yz = (rows[2][1] + rows[1][2]) / 4; if ((xx > yy) && (xx > zz)) { // rows[0][0] is the largest diagonal term - if (xx < epsilon) { + if (xx < CMP_EPSILON) { x = 0; y = Math_SQRT12; z = Math_SQRT12; @@ -849,7 +848,7 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const { z = xz / x; } } else if (yy > zz) { // rows[1][1] is the largest diagonal term - if (yy < epsilon) { + if (yy < CMP_EPSILON) { x = Math_SQRT12; y = 0; z = Math_SQRT12; @@ -859,7 +858,7 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const { z = yz / y; } } else { // rows[2][2] is the largest diagonal term so base result on this - if (zz < epsilon) { + if (zz < CMP_EPSILON) { x = Math_SQRT12; y = Math_SQRT12; z = 0; @@ -935,9 +934,9 @@ void Basis::set_axis_angle_scale(const Vector3 &p_axis, real_t p_angle, const Ve rotate(p_axis, p_angle); } -void Basis::set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale) { +void Basis::set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale, EulerOrder p_order) { _set_diagonal(p_scale); - rotate(p_euler); + rotate(p_euler, p_order); } void Basis::set_quaternion_scale(const Quaternion &p_quaternion, const Vector3 &p_scale) { |