diff options
Diffstat (limited to 'core/math/basis.cpp')
| -rw-r--r-- | core/math/basis.cpp | 50 |
1 files changed, 20 insertions, 30 deletions
diff --git a/core/math/basis.cpp b/core/math/basis.cpp index dd38e25bb1..50299902eb 100644 --- a/core/math/basis.cpp +++ b/core/math/basis.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 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 */ @@ -31,8 +31,7 @@ #include "basis.h" #include "core/math/math_funcs.h" -#include "core/os/copymem.h" -#include "core/print_string.h" +#include "core/string/print_string.h" #define cofac(row1, col1, row2, col2) \ (elements[row1][col1] * elements[row2][col2] - elements[row1][col2] * elements[row2][col1]) @@ -113,23 +112,26 @@ bool Basis::is_rotation() const { return Math::is_equal_approx(determinant(), 1, UNIT_EPSILON) && is_orthogonal(); } +#ifdef MATH_CHECKS +// This method is only used once, in diagonalize. If it's desired elsewhere, feel free to remove the #ifdef. bool Basis::is_symmetric() const { - if (!Math::is_equal_approx_ratio(elements[0][1], elements[1][0], UNIT_EPSILON)) { + if (!Math::is_equal_approx(elements[0][1], elements[1][0])) { return false; } - if (!Math::is_equal_approx_ratio(elements[0][2], elements[2][0], UNIT_EPSILON)) { + if (!Math::is_equal_approx(elements[0][2], elements[2][0])) { return false; } - if (!Math::is_equal_approx_ratio(elements[1][2], elements[2][1], UNIT_EPSILON)) { + if (!Math::is_equal_approx(elements[1][2], elements[2][1])) { return false; } return true; } +#endif 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 @@ -314,7 +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 { @@ -737,18 +739,6 @@ bool Basis::is_equal_approx(const Basis &p_basis) const { return elements[0].is_equal_approx(p_basis.elements[0]) && elements[1].is_equal_approx(p_basis.elements[1]) && elements[2].is_equal_approx(p_basis.elements[2]); } -bool Basis::is_equal_approx_ratio(const Basis &a, const Basis &b, real_t p_epsilon) const { - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - if (!Math::is_equal_approx_ratio(a.elements[i][j], b.elements[i][j], p_epsilon)) { - return false; - } - } - } - - return true; -} - bool Basis::operator==(const Basis &p_matrix) const { for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { @@ -799,8 +789,8 @@ Quat Basis::get_quat() const { temp[2] = ((m.elements[1][0] - m.elements[0][1]) * s); } else { int i = m.elements[0][0] < m.elements[1][1] ? - (m.elements[1][1] < m.elements[2][2] ? 2 : 1) : - (m.elements[0][0] < m.elements[2][2] ? 2 : 0); + (m.elements[1][1] < m.elements[2][2] ? 2 : 1) : + (m.elements[0][0] < m.elements[2][2] ? 2 : 0); int j = (i + 1) % 3; int k = (i + 2) % 3; @@ -890,7 +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); @@ -1026,15 +1016,15 @@ void Basis::set_diagonal(const Vector3 &p_diag) { elements[2][2] = p_diag.z; } -Basis Basis::slerp(const Basis &target, const real_t &t) const { +Basis Basis::slerp(const Basis &p_to, const real_t &p_weight) const { //consider scale Quat from(*this); - Quat to(target); + Quat to(p_to); - Basis b(from.slerp(to, t)); - b.elements[0] *= Math::lerp(elements[0].length(), target.elements[0].length(), t); - b.elements[1] *= Math::lerp(elements[1].length(), target.elements[1].length(), t); - b.elements[2] *= Math::lerp(elements[2].length(), target.elements[2].length(), t); + Basis b(from.slerp(to, p_weight)); + b.elements[0] *= Math::lerp(elements[0].length(), p_to.elements[0].length(), p_weight); + b.elements[1] *= Math::lerp(elements[1].length(), p_to.elements[1].length(), p_weight); + b.elements[2] *= Math::lerp(elements[2].length(), p_to.elements[2].length(), p_weight); return b; } |