diff options
Diffstat (limited to 'core/math/basis.cpp')
| -rw-r--r-- | core/math/basis.cpp | 39 |
1 files changed, 16 insertions, 23 deletions
diff --git a/core/math/basis.cpp b/core/math/basis.cpp index 0a491010e2..ddf5f13d55 100644 --- a/core/math/basis.cpp +++ b/core/math/basis.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 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 */ @@ -106,17 +106,17 @@ Basis Basis::orthonormalized() const { } bool Basis::is_orthogonal() const { - Basis id; + Basis identity; Basis m = (*this) * transposed(); - return is_equal_approx(id, m); + return m.is_equal_approx(identity); } bool Basis::is_diagonal() const { return ( - Math::is_equal_approx(elements[0][1], 0) && Math::is_equal_approx(elements[0][2], 0) && - Math::is_equal_approx(elements[1][0], 0) && Math::is_equal_approx(elements[1][2], 0) && - Math::is_equal_approx(elements[2][0], 0) && Math::is_equal_approx(elements[2][1], 0)); + Math::is_zero_approx(elements[0][1]) && Math::is_zero_approx(elements[0][2]) && + Math::is_zero_approx(elements[1][0]) && Math::is_zero_approx(elements[1][2]) && + Math::is_zero_approx(elements[2][0]) && Math::is_zero_approx(elements[2][1])); } bool Basis::is_rotation() const { @@ -557,16 +557,9 @@ void Basis::set_euler_yxz(const Vector3 &p_euler) { *this = ymat * xmat * zmat; } -bool Basis::is_equal_approx(const Basis &a, const Basis &b, real_t p_epsilon) const { +bool Basis::is_equal_approx(const Basis &p_basis) const { - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - if (!Math::is_equal_approx(a.elements[i][j], b.elements[i][j], p_epsilon)) - return false; - } - } - - return true; + 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 { @@ -746,8 +739,8 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const { if ((xx > yy) && (xx > zz)) { // elements[0][0] is the largest diagonal term if (xx < epsilon) { x = 0; - y = 0.7071; - z = 0.7071; + y = Math_SQRT12; + z = Math_SQRT12; } else { x = Math::sqrt(xx); y = xy / x; @@ -755,9 +748,9 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const { } } else if (yy > zz) { // elements[1][1] is the largest diagonal term if (yy < epsilon) { - x = 0.7071; + x = Math_SQRT12; y = 0; - z = 0.7071; + z = Math_SQRT12; } else { y = Math::sqrt(yy); x = xy / y; @@ -765,8 +758,8 @@ void Basis::get_axis_angle(Vector3 &r_axis, real_t &r_angle) const { } } else { // elements[2][2] is the largest diagonal term so base result on this if (zz < epsilon) { - x = 0.7071; - y = 0.7071; + x = Math_SQRT12; + y = Math_SQRT12; z = 0; } else { z = Math::sqrt(zz); @@ -807,7 +800,7 @@ void Basis::set_quat(const Quat &p_quat) { void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_phi) { // Rotation matrix from axis and angle, see https://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_angle #ifdef MATH_CHECKS - ERR_FAIL_COND_MSG(!p_axis.is_normalized(), "Axis must be normalized."); + ERR_FAIL_COND_MSG(!p_axis.is_normalized(), "The axis Vector3 must be 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); |