summaryrefslogtreecommitdiff
path: root/core/math/basis.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'core/math/basis.cpp')
-rw-r--r--core/math/basis.cpp98
1 files changed, 39 insertions, 59 deletions
diff --git a/core/math/basis.cpp b/core/math/basis.cpp
index 41ec6d8ce3..95a4187062 100644
--- a/core/math/basis.cpp
+++ b/core/math/basis.cpp
@@ -1,32 +1,32 @@
-/*************************************************************************/
-/* basis.cpp */
-/*************************************************************************/
-/* This file is part of: */
-/* GODOT ENGINE */
-/* https://godotengine.org */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
-/* */
-/* Permission is hereby granted, free of charge, to any person obtaining */
-/* a copy of this software and associated documentation files (the */
-/* "Software"), to deal in the Software without restriction, including */
-/* without limitation the rights to use, copy, modify, merge, publish, */
-/* distribute, sublicense, and/or sell copies of the Software, and to */
-/* permit persons to whom the Software is furnished to do so, subject to */
-/* the following conditions: */
-/* */
-/* The above copyright notice and this permission notice shall be */
-/* included in all copies or substantial portions of the Software. */
-/* */
-/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
-/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
-/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
-/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
-/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
-/*************************************************************************/
+/**************************************************************************/
+/* basis.cpp */
+/**************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/**************************************************************************/
#include "basis.h"
@@ -36,23 +36,6 @@
#define cofac(row1, col1, row2, col2) \
(rows[row1][col1] * rows[row2][col2] - rows[row1][col2] * rows[row2][col1])
-void Basis::from_z(const Vector3 &p_z) {
- if (Math::abs(p_z.z) > (real_t)Math_SQRT12) {
- // choose p in y-z plane
- real_t a = p_z[1] * p_z[1] + p_z[2] * p_z[2];
- real_t k = 1.0f / Math::sqrt(a);
- rows[0] = Vector3(0, -p_z[2] * k, p_z[1] * k);
- rows[1] = Vector3(a * k, -p_z[0] * rows[0][2], p_z[0] * rows[0][1]);
- } else {
- // choose p in x-y plane
- real_t a = p_z.x * p_z.x + p_z.y * p_z.y;
- real_t k = 1.0f / Math::sqrt(a);
- rows[0] = Vector3(-p_z.y * k, p_z.x * k, 0);
- rows[1] = Vector3(-p_z.z * rows[0].y, p_z.z * rows[0].x, a * k);
- }
- rows[2] = p_z;
-}
-
void Basis::invert() {
real_t co[3] = {
cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1)
@@ -256,13 +239,18 @@ void Basis::scale_orthogonal(const Vector3 &p_scale) {
Basis Basis::scaled_orthogonal(const Vector3 &p_scale) const {
Basis m = *this;
Vector3 s = Vector3(-1, -1, -1) + p_scale;
+ bool sign = signbit(s.x + s.y + s.z);
+ Basis b = m.orthonormalized();
+ s = b.xform_inv(s);
Vector3 dots;
- Basis b;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
dots[j] += s[i] * abs(m.get_column(i).normalized().dot(b.get_column(j)));
}
}
+ if (sign != signbit(dots.x + dots.y + dots.z)) {
+ dots = -dots;
+ }
m.scale_local(Vector3(1, 1, 1) + dots);
return m;
}
@@ -271,14 +259,6 @@ float Basis::get_uniform_scale() const {
return (rows[0].length() + rows[1].length() + rows[2].length()) / 3.0f;
}
-void Basis::make_scale_uniform() {
- float l = (rows[0].length() + rows[1].length() + rows[2].length()) / 3.0f;
- for (int i = 0; i < 3; i++) {
- rows[i].normalize();
- rows[i] *= l;
- }
-}
-
Basis Basis::scaled_local(const Vector3 &p_scale) const {
return (*this) * Basis::from_scale(p_scale);
}
@@ -487,7 +467,7 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
euler.z = 0.0f;
}
return euler;
- } break;
+ }
case EulerOrder::XZY: {
// Euler angles in XZY convention.
// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
@@ -516,7 +496,7 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
euler.z = -Math_PI / 2.0f;
}
return euler;
- } break;
+ }
case EulerOrder::YXZ: {
// Euler angles in YXZ convention.
// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
@@ -554,7 +534,7 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
}
return euler;
- } break;
+ }
case EulerOrder::YZX: {
// Euler angles in YZX convention.
// See https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
@@ -639,7 +619,7 @@ Vector3 Basis::get_euler(EulerOrder p_order) const {
euler.z = -Math::atan2(rows[0][1], rows[1][1]);
}
return euler;
- } break;
+ }
default: {
ERR_FAIL_V_MSG(Vector3(), "Invalid parameter for get_euler(order)");
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-15 13:08:03 +0000