diff options
Diffstat (limited to 'core/math/basis.cpp')
| -rw-r--r-- | core/math/basis.cpp | 47 |
1 files changed, 23 insertions, 24 deletions
diff --git a/core/math/basis.cpp b/core/math/basis.cpp index cbdd8a8c9f..7489da34d9 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) \ @@ -110,7 +109,7 @@ bool Basis::is_diagonal() const { } bool Basis::is_rotation() const { - return Math::is_equal_approx(determinant(), 1, UNIT_EPSILON) && is_orthogonal(); + return Math::is_equal_approx(determinant(), 1, (real_t)UNIT_EPSILON) && is_orthogonal(); } #ifdef MATH_CHECKS @@ -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 { @@ -346,12 +345,12 @@ void Basis::rotate(const Vector3 &p_euler) { *this = rotated(p_euler); } -Basis Basis::rotated(const Quat &p_quat) const { - return Basis(p_quat) * (*this); +Basis Basis::rotated(const Quaternion &p_quaternion) const { + return Basis(p_quaternion) * (*this); } -void Basis::rotate(const Quat &p_quat) { - *this = rotated(p_quat); +void Basis::rotate(const Quaternion &p_quaternion) { + *this = rotated(p_quaternion); } Vector3 Basis::get_rotation_euler() const { @@ -368,7 +367,7 @@ Vector3 Basis::get_rotation_euler() const { return m.get_euler(); } -Quat Basis::get_rotation_quat() const { +Quaternion Basis::get_rotation_quaternion() const { // Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S, // and returns the Euler angles corresponding to the rotation part, complementing get_scale(). // See the comment in get_scale() for further information. @@ -379,7 +378,7 @@ Quat Basis::get_rotation_quat() const { m.scale(Vector3(-1, -1, -1)); } - return m.get_quat(); + return m.get_quaternion(); } void Basis::get_rotation_axis_angle(Vector3 &p_axis, real_t &p_angle) const { @@ -771,9 +770,9 @@ Basis::operator String() const { return mtx; } -Quat Basis::get_quat() const { +Quaternion Basis::get_quaternion() const { #ifdef MATH_CHECKS - ERR_FAIL_COND_V_MSG(!is_rotation(), Quat(), "Basis must be normalized in order to be casted to a Quaternion. Use get_rotation_quat() or call orthonormalized() instead."); + ERR_FAIL_COND_V_MSG(!is_rotation(), Quaternion(), "Basis must be normalized in order to be casted to a Quaternion. Use get_rotation_quaternion() or call orthonormalized() instead."); #endif /* Allow getting a quaternion from an unnormalized transform */ Basis m = *this; @@ -804,7 +803,7 @@ Quat Basis::get_quat() const { temp[k] = (m.elements[k][i] + m.elements[i][k]) * s; } - return Quat(temp[0], temp[1], temp[2], temp[3]); + return Quaternion(temp[0], temp[1], temp[2], temp[3]); } static const Basis _ortho_bases[24] = { @@ -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); @@ -946,13 +945,13 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const { r_angle = angle; } -void Basis::set_quat(const Quat &p_quat) { - real_t d = p_quat.length_squared(); +void Basis::set_quaternion(const Quaternion &p_quaternion) { + real_t d = p_quaternion.length_squared(); real_t s = 2.0 / d; - real_t xs = p_quat.x * s, ys = p_quat.y * s, zs = p_quat.z * s; - real_t wx = p_quat.w * xs, wy = p_quat.w * ys, wz = p_quat.w * zs; - real_t xx = p_quat.x * xs, xy = p_quat.x * ys, xz = p_quat.x * zs; - real_t yy = p_quat.y * ys, yz = p_quat.y * zs, zz = p_quat.z * zs; + real_t xs = p_quaternion.x * s, ys = p_quaternion.y * s, zs = p_quaternion.z * s; + real_t wx = p_quaternion.w * xs, wy = p_quaternion.w * ys, wz = p_quaternion.w * zs; + real_t xx = p_quaternion.x * xs, xy = p_quaternion.x * ys, xz = p_quaternion.x * zs; + real_t yy = p_quaternion.y * ys, yz = p_quaternion.y * zs, zz = p_quaternion.z * zs; set(1.0 - (yy + zz), xy - wz, xz + wy, xy + wz, 1.0 - (xx + zz), yz - wx, xz - wy, yz + wx, 1.0 - (xx + yy)); @@ -998,9 +997,9 @@ void Basis::set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale) { rotate(p_euler); } -void Basis::set_quat_scale(const Quat &p_quat, const Vector3 &p_scale) { +void Basis::set_quaternion_scale(const Quaternion &p_quaternion, const Vector3 &p_scale) { set_diagonal(p_scale); - rotate(p_quat); + rotate(p_quaternion); } void Basis::set_diagonal(const Vector3 &p_diag) { @@ -1019,8 +1018,8 @@ void Basis::set_diagonal(const Vector3 &p_diag) { Basis Basis::slerp(const Basis &p_to, const real_t &p_weight) const { //consider scale - Quat from(*this); - Quat to(p_to); + Quaternion from(*this); + Quaternion to(p_to); Basis b(from.slerp(to, p_weight)); b.elements[0] *= Math::lerp(elements[0].length(), p_to.elements[0].length(), p_weight); |