diff options
Diffstat (limited to 'core/math/basis.cpp')
| -rw-r--r-- | core/math/basis.cpp | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/core/math/basis.cpp b/core/math/basis.cpp index cbdd8a8c9f..50299902eb 100644 --- a/core/math/basis.cpp +++ b/core/math/basis.cpp @@ -31,7 +31,6 @@ #include "basis.h" #include "core/math/math_funcs.h" -#include "core/os/copymem.h" #include "core/string/print_string.h" #define cofac(row1, col1, row2, col2) \ @@ -132,7 +131,7 @@ bool Basis::is_symmetric() const { Basis Basis::diagonalize() { //NOTE: only implemented for symmetric matrices -//with the Jacobi iterative method method +//with the Jacobi iterative method #ifdef MATH_CHECKS ERR_FAIL_COND_V(!is_symmetric(), Basis()); #endif @@ -317,7 +316,7 @@ Vector3 Basis::rotref_posscale_decomposition(Basis &rotref) const { // Multiplies the matrix from left by the rotation matrix: M -> R.M // Note that this does *not* rotate the matrix itself. // -// The main use of Basis is as Transform.basis, which is used a the transformation matrix +// The main use of Basis is as Transform.basis, which is used by the transformation matrix // of 3D object. Rotate here refers to rotation of the object (which is R * (*this)), // not the matrix itself (which is R * (*this) * R.transposed()). Basis Basis::rotated(const Vector3 &p_axis, real_t p_phi) const { @@ -881,7 +880,7 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const { if ((Math::abs(elements[1][0] - elements[0][1]) < epsilon) && (Math::abs(elements[2][0] - elements[0][2]) < epsilon) && (Math::abs(elements[2][1] - elements[1][2]) < epsilon)) { // singularity found // first check for identity matrix which must have +1 for all terms - // in leading diagonaland zero in other terms + // in leading diagonal and zero in other terms if ((Math::abs(elements[1][0] + elements[0][1]) < epsilon2) && (Math::abs(elements[2][0] + elements[0][2]) < epsilon2) && (Math::abs(elements[2][1] + elements[1][2]) < epsilon2) && (Math::abs(elements[0][0] + elements[1][1] + elements[2][2] - 3) < epsilon2)) { // this singularity is identity matrix so angle = 0 r_axis = Vector3(0, 1, 0); |