diff options
Diffstat (limited to 'core/math/basis.cpp')
| -rw-r--r-- | core/math/basis.cpp | 29 |
1 files changed, 18 insertions, 11 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) { |