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-rw-r--r--core/math/basis.h132
1 files changed, 66 insertions, 66 deletions
diff --git a/core/math/basis.h b/core/math/basis.h
index 683f05150c..7bd75be091 100644
--- a/core/math/basis.h
+++ b/core/math/basis.h
@@ -35,17 +35,17 @@
#include "core/math/vector3.h"
struct _NO_DISCARD_ Basis {
- Vector3 elements[3] = {
+ Vector3 rows[3] = {
Vector3(1, 0, 0),
Vector3(0, 1, 0),
Vector3(0, 0, 1)
};
_FORCE_INLINE_ const Vector3 &operator[](int axis) const {
- return elements[axis];
+ return rows[axis];
}
_FORCE_INLINE_ Vector3 &operator[](int axis) {
- return elements[axis];
+ return rows[axis];
}
void invert();
@@ -59,14 +59,14 @@ struct _NO_DISCARD_ Basis {
void from_z(const Vector3 &p_z);
_FORCE_INLINE_ Vector3 get_axis(int p_axis) const {
- // get actual basis axis (elements is transposed for performance)
- return Vector3(elements[0][p_axis], elements[1][p_axis], elements[2][p_axis]);
+ // get actual basis axis column (we store transposed as rows for performance)
+ return Vector3(rows[0][p_axis], rows[1][p_axis], rows[2][p_axis]);
}
_FORCE_INLINE_ void set_axis(int p_axis, const Vector3 &p_value) {
- // get actual basis axis (elements is transposed for performance)
- elements[0][p_axis] = p_value.x;
- elements[1][p_axis] = p_value.y;
- elements[2][p_axis] = p_value.z;
+ // get actual basis axis column (we store transposed as rows for performance)
+ rows[0][p_axis] = p_value.x;
+ rows[1][p_axis] = p_value.y;
+ rows[2][p_axis] = p_value.z;
}
void rotate(const Vector3 &p_axis, real_t p_phi);
@@ -135,13 +135,13 @@ struct _NO_DISCARD_ Basis {
// transposed dot products
_FORCE_INLINE_ real_t tdotx(const Vector3 &v) const {
- return elements[0][0] * v[0] + elements[1][0] * v[1] + elements[2][0] * v[2];
+ return rows[0][0] * v[0] + rows[1][0] * v[1] + rows[2][0] * v[2];
}
_FORCE_INLINE_ real_t tdoty(const Vector3 &v) const {
- return elements[0][1] * v[0] + elements[1][1] * v[1] + elements[2][1] * v[2];
+ return rows[0][1] * v[0] + rows[1][1] * v[1] + rows[2][1] * v[2];
}
_FORCE_INLINE_ real_t tdotz(const Vector3 &v) const {
- return elements[0][2] * v[0] + elements[1][2] * v[1] + elements[2][2] * v[2];
+ return rows[0][2] * v[0] + rows[1][2] * v[1] + rows[2][2] * v[2];
}
bool is_equal_approx(const Basis &p_basis) const;
@@ -176,15 +176,15 @@ struct _NO_DISCARD_ Basis {
/* create / set */
_FORCE_INLINE_ void set(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz) {
- elements[0][0] = xx;
- elements[0][1] = xy;
- elements[0][2] = xz;
- elements[1][0] = yx;
- elements[1][1] = yy;
- elements[1][2] = yz;
- elements[2][0] = zx;
- elements[2][1] = zy;
- elements[2][2] = zz;
+ rows[0][0] = xx;
+ rows[0][1] = xy;
+ rows[0][2] = xz;
+ rows[1][0] = yx;
+ rows[1][1] = yy;
+ rows[1][2] = yz;
+ rows[2][0] = zx;
+ rows[2][1] = zy;
+ rows[2][2] = zz;
}
_FORCE_INLINE_ void set(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z) {
set_axis(0, p_x);
@@ -192,39 +192,39 @@ struct _NO_DISCARD_ Basis {
set_axis(2, p_z);
}
_FORCE_INLINE_ Vector3 get_column(int i) const {
- return Vector3(elements[0][i], elements[1][i], elements[2][i]);
+ return Vector3(rows[0][i], rows[1][i], rows[2][i]);
}
_FORCE_INLINE_ Vector3 get_row(int i) const {
- return Vector3(elements[i][0], elements[i][1], elements[i][2]);
+ return Vector3(rows[i][0], rows[i][1], rows[i][2]);
}
_FORCE_INLINE_ Vector3 get_main_diagonal() const {
- return Vector3(elements[0][0], elements[1][1], elements[2][2]);
+ return Vector3(rows[0][0], rows[1][1], rows[2][2]);
}
_FORCE_INLINE_ void set_row(int i, const Vector3 &p_row) {
- elements[i][0] = p_row.x;
- elements[i][1] = p_row.y;
- elements[i][2] = p_row.z;
+ rows[i][0] = p_row.x;
+ rows[i][1] = p_row.y;
+ rows[i][2] = p_row.z;
}
_FORCE_INLINE_ void set_zero() {
- elements[0].zero();
- elements[1].zero();
- elements[2].zero();
+ rows[0].zero();
+ rows[1].zero();
+ rows[2].zero();
}
_FORCE_INLINE_ Basis transpose_xform(const Basis &m) const {
return Basis(
- elements[0].x * m[0].x + elements[1].x * m[1].x + elements[2].x * m[2].x,
- elements[0].x * m[0].y + elements[1].x * m[1].y + elements[2].x * m[2].y,
- elements[0].x * m[0].z + elements[1].x * m[1].z + elements[2].x * m[2].z,
- elements[0].y * m[0].x + elements[1].y * m[1].x + elements[2].y * m[2].x,
- elements[0].y * m[0].y + elements[1].y * m[1].y + elements[2].y * m[2].y,
- elements[0].y * m[0].z + elements[1].y * m[1].z + elements[2].y * m[2].z,
- elements[0].z * m[0].x + elements[1].z * m[1].x + elements[2].z * m[2].x,
- elements[0].z * m[0].y + elements[1].z * m[1].y + elements[2].z * m[2].y,
- elements[0].z * m[0].z + elements[1].z * m[1].z + elements[2].z * m[2].z);
+ rows[0].x * m[0].x + rows[1].x * m[1].x + rows[2].x * m[2].x,
+ rows[0].x * m[0].y + rows[1].x * m[1].y + rows[2].x * m[2].y,
+ rows[0].x * m[0].z + rows[1].x * m[1].z + rows[2].x * m[2].z,
+ rows[0].y * m[0].x + rows[1].y * m[1].x + rows[2].y * m[2].x,
+ rows[0].y * m[0].y + rows[1].y * m[1].y + rows[2].y * m[2].y,
+ rows[0].y * m[0].z + rows[1].y * m[1].z + rows[2].y * m[2].z,
+ rows[0].z * m[0].x + rows[1].z * m[1].x + rows[2].z * m[2].x,
+ rows[0].z * m[0].y + rows[1].z * m[1].y + rows[2].z * m[2].y,
+ rows[0].z * m[0].z + rows[1].z * m[1].z + rows[2].z * m[2].z);
}
Basis(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz) {
set(xx, xy, xz, yx, yy, yz, zx, zy, zz);
@@ -253,9 +253,9 @@ struct _NO_DISCARD_ Basis {
static Basis from_scale(const Vector3 &p_scale);
_FORCE_INLINE_ Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2) {
- elements[0] = row0;
- elements[1] = row1;
- elements[2] = row2;
+ rows[0] = row0;
+ rows[1] = row1;
+ rows[2] = row2;
}
_FORCE_INLINE_ Basis() {}
@@ -267,22 +267,22 @@ private:
_FORCE_INLINE_ void Basis::operator*=(const Basis &p_matrix) {
set(
- p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]),
- p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]),
- p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2]));
+ p_matrix.tdotx(rows[0]), p_matrix.tdoty(rows[0]), p_matrix.tdotz(rows[0]),
+ p_matrix.tdotx(rows[1]), p_matrix.tdoty(rows[1]), p_matrix.tdotz(rows[1]),
+ p_matrix.tdotx(rows[2]), p_matrix.tdoty(rows[2]), p_matrix.tdotz(rows[2]));
}
_FORCE_INLINE_ Basis Basis::operator*(const Basis &p_matrix) const {
return Basis(
- p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]),
- p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]),
- p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2]));
+ p_matrix.tdotx(rows[0]), p_matrix.tdoty(rows[0]), p_matrix.tdotz(rows[0]),
+ p_matrix.tdotx(rows[1]), p_matrix.tdoty(rows[1]), p_matrix.tdotz(rows[1]),
+ p_matrix.tdotx(rows[2]), p_matrix.tdoty(rows[2]), p_matrix.tdotz(rows[2]));
}
_FORCE_INLINE_ void Basis::operator+=(const Basis &p_matrix) {
- elements[0] += p_matrix.elements[0];
- elements[1] += p_matrix.elements[1];
- elements[2] += p_matrix.elements[2];
+ rows[0] += p_matrix.rows[0];
+ rows[1] += p_matrix.rows[1];
+ rows[2] += p_matrix.rows[2];
}
_FORCE_INLINE_ Basis Basis::operator+(const Basis &p_matrix) const {
@@ -292,9 +292,9 @@ _FORCE_INLINE_ Basis Basis::operator+(const Basis &p_matrix) const {
}
_FORCE_INLINE_ void Basis::operator-=(const Basis &p_matrix) {
- elements[0] -= p_matrix.elements[0];
- elements[1] -= p_matrix.elements[1];
- elements[2] -= p_matrix.elements[2];
+ rows[0] -= p_matrix.rows[0];
+ rows[1] -= p_matrix.rows[1];
+ rows[2] -= p_matrix.rows[2];
}
_FORCE_INLINE_ Basis Basis::operator-(const Basis &p_matrix) const {
@@ -304,9 +304,9 @@ _FORCE_INLINE_ Basis Basis::operator-(const Basis &p_matrix) const {
}
_FORCE_INLINE_ void Basis::operator*=(const real_t p_val) {
- elements[0] *= p_val;
- elements[1] *= p_val;
- elements[2] *= p_val;
+ rows[0] *= p_val;
+ rows[1] *= p_val;
+ rows[2] *= p_val;
}
_FORCE_INLINE_ Basis Basis::operator*(const real_t p_val) const {
@@ -317,22 +317,22 @@ _FORCE_INLINE_ Basis Basis::operator*(const real_t p_val) const {
Vector3 Basis::xform(const Vector3 &p_vector) const {
return Vector3(
- elements[0].dot(p_vector),
- elements[1].dot(p_vector),
- elements[2].dot(p_vector));
+ rows[0].dot(p_vector),
+ rows[1].dot(p_vector),
+ rows[2].dot(p_vector));
}
Vector3 Basis::xform_inv(const Vector3 &p_vector) const {
return Vector3(
- (elements[0][0] * p_vector.x) + (elements[1][0] * p_vector.y) + (elements[2][0] * p_vector.z),
- (elements[0][1] * p_vector.x) + (elements[1][1] * p_vector.y) + (elements[2][1] * p_vector.z),
- (elements[0][2] * p_vector.x) + (elements[1][2] * p_vector.y) + (elements[2][2] * p_vector.z));
+ (rows[0][0] * p_vector.x) + (rows[1][0] * p_vector.y) + (rows[2][0] * p_vector.z),
+ (rows[0][1] * p_vector.x) + (rows[1][1] * p_vector.y) + (rows[2][1] * p_vector.z),
+ (rows[0][2] * p_vector.x) + (rows[1][2] * p_vector.y) + (rows[2][2] * p_vector.z));
}
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]);
+ return rows[0][0] * (rows[1][1] * rows[2][2] - rows[2][1] * rows[1][2]) -
+ rows[1][0] * (rows[0][1] * rows[2][2] - rows[2][1] * rows[0][2]) +
+ rows[2][0] * (rows[0][1] * rows[1][2] - rows[1][1] * rows[0][2]);
}
#endif // BASIS_H
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 04:45:09 +0000