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-rw-r--r--core/math/basis.h88
1 files changed, 43 insertions, 45 deletions
diff --git a/core/math/basis.h b/core/math/basis.h
index 2584f1ff48..e2fdb95685 100644
--- a/core/math/basis.h
+++ b/core/math/basis.h
@@ -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 */
@@ -31,10 +31,13 @@
#ifndef BASIS_H
#define BASIS_H
-#include "core/math/quat.h"
+#include "core/math/quaternion.h"
#include "core/math/vector3.h"
class Basis {
+private:
+ void _set_diagonal(const Vector3 &p_diag);
+
public:
Vector3 elements[3] = {
Vector3(1, 0, 0),
@@ -79,40 +82,37 @@ public:
void rotate(const Vector3 &p_euler);
Basis rotated(const Vector3 &p_euler) const;
- void rotate(const Quat &p_quat);
- Basis rotated(const Quat &p_quat) const;
+ void rotate(const Quaternion &p_quaternion);
+ Basis rotated(const Quaternion &p_quaternion) const;
+
+ enum EulerOrder {
+ EULER_ORDER_XYZ,
+ EULER_ORDER_XZY,
+ EULER_ORDER_YXZ,
+ EULER_ORDER_YZX,
+ EULER_ORDER_ZXY,
+ EULER_ORDER_ZYX
+ };
- Vector3 get_rotation_euler() const;
+ Vector3 get_euler_normalized(EulerOrder p_order = EULER_ORDER_YXZ) const;
void get_rotation_axis_angle(Vector3 &p_axis, real_t &p_angle) const;
void get_rotation_axis_angle_local(Vector3 &p_axis, real_t &p_angle) const;
- Quat get_rotation_quat() const;
- Vector3 get_rotation() const { return get_rotation_euler(); };
-
- Vector3 rotref_posscale_decomposition(Basis &rotref) const;
-
- Vector3 get_euler_xyz() const;
- void set_euler_xyz(const Vector3 &p_euler);
+ Quaternion get_rotation_quaternion() const;
- Vector3 get_euler_xzy() const;
- void set_euler_xzy(const Vector3 &p_euler);
+ void rotate_to_align(Vector3 p_start_direction, Vector3 p_end_direction);
- Vector3 get_euler_yzx() const;
- void set_euler_yzx(const Vector3 &p_euler);
-
- Vector3 get_euler_yxz() const;
- void set_euler_yxz(const Vector3 &p_euler);
-
- Vector3 get_euler_zxy() const;
- void set_euler_zxy(const Vector3 &p_euler);
-
- Vector3 get_euler_zyx() const;
- void set_euler_zyx(const Vector3 &p_euler);
+ Vector3 rotref_posscale_decomposition(Basis &rotref) const;
- Quat get_quat() const;
- void set_quat(const Quat &p_quat);
+ Vector3 get_euler(EulerOrder p_order = EULER_ORDER_YXZ) const;
+ void set_euler(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ);
+ static Basis from_euler(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ) {
+ Basis b;
+ b.set_euler(p_euler, p_order);
+ return b;
+ }
- Vector3 get_euler() const { return get_euler_yxz(); }
- void set_euler(const Vector3 &p_euler) { set_euler_yxz(p_euler); }
+ Quaternion get_quaternion() const;
+ void set_quaternion(const Quaternion &p_quaternion);
void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const;
void set_axis_angle(const Vector3 &p_axis, real_t p_phi);
@@ -132,7 +132,7 @@ public:
void set_axis_angle_scale(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale);
void set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale);
- void set_quat_scale(const Quat &p_quat, const Vector3 &p_scale);
+ void set_quaternion_scale(const Quaternion &p_quaternion, const Vector3 &p_scale);
// transposed dot products
_FORCE_INLINE_ real_t tdotx(const Vector3 &v) const {
@@ -158,19 +158,17 @@ public:
_FORCE_INLINE_ Basis operator+(const Basis &p_matrix) const;
_FORCE_INLINE_ void operator-=(const Basis &p_matrix);
_FORCE_INLINE_ Basis operator-(const Basis &p_matrix) const;
- _FORCE_INLINE_ void operator*=(real_t p_val);
- _FORCE_INLINE_ Basis operator*(real_t p_val) const;
+ _FORCE_INLINE_ void operator*=(const real_t p_val);
+ _FORCE_INLINE_ Basis operator*(const real_t p_val) const;
int get_orthogonal_index() const;
void set_orthogonal_index(int p_index);
- void set_diagonal(const Vector3 &p_diag);
-
bool is_orthogonal() const;
bool is_diagonal() const;
bool is_rotation() const;
- Basis slerp(const Basis &target, const real_t &t) const;
+ Basis slerp(const Basis &p_to, const real_t &p_weight) const;
void rotate_sh(real_t *p_values);
operator String() const;
@@ -240,16 +238,16 @@ public:
#endif
Basis diagonalize();
- operator Quat() const { return get_quat(); }
+ operator Quaternion() const { return get_quaternion(); }
- Basis(const Quat &p_quat) { set_quat(p_quat); };
- Basis(const Quat &p_quat, const Vector3 &p_scale) { set_quat_scale(p_quat, p_scale); }
+ static Basis looking_at(const Vector3 &p_target, const Vector3 &p_up = Vector3(0, 1, 0));
- Basis(const Vector3 &p_euler) { set_euler(p_euler); }
- Basis(const Vector3 &p_euler, const Vector3 &p_scale) { set_euler_scale(p_euler, p_scale); }
+ Basis(const Quaternion &p_quaternion) { set_quaternion(p_quaternion); };
+ Basis(const Quaternion &p_quaternion, const Vector3 &p_scale) { set_quaternion_scale(p_quaternion, p_scale); }
Basis(const Vector3 &p_axis, real_t p_phi) { set_axis_angle(p_axis, p_phi); }
Basis(const Vector3 &p_axis, real_t p_phi, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_phi, p_scale); }
+ static Basis from_scale(const Vector3 &p_scale);
_FORCE_INLINE_ Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2) {
elements[0] = row0;
@@ -298,13 +296,13 @@ _FORCE_INLINE_ Basis Basis::operator-(const Basis &p_matrix) const {
return ret;
}
-_FORCE_INLINE_ void Basis::operator*=(real_t p_val) {
+_FORCE_INLINE_ void Basis::operator*=(const real_t p_val) {
elements[0] *= p_val;
elements[1] *= p_val;
elements[2] *= p_val;
}
-_FORCE_INLINE_ Basis Basis::operator*(real_t p_val) const {
+_FORCE_INLINE_ Basis Basis::operator*(const real_t p_val) const {
Basis ret(*this);
ret *= p_val;
return ret;
@@ -326,7 +324,7 @@ Vector3 Basis::xform_inv(const Vector3 &p_vector) const {
real_t Basis::determinant() const {
return elements[0][0] * (elements[1][1] * elements[2][2] - elements[2][1] * elements[1][2]) -
- elements[1][0] * (elements[0][1] * elements[2][2] - elements[2][1] * elements[0][2]) +
- elements[2][0] * (elements[0][1] * elements[1][2] - elements[1][1] * elements[0][2]);
+ elements[1][0] * (elements[0][1] * elements[2][2] - elements[2][1] * elements[0][2]) +
+ elements[2][0] * (elements[0][1] * elements[1][2] - elements[1][1] * elements[0][2]);
}
#endif // BASIS_H
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-21 07:17:51 +0000