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-rw-r--r--core/math/basis.h235
1 files changed, 112 insertions, 123 deletions
diff --git a/core/math/basis.h b/core/math/basis.h
index eb107d7e4e..4be325cdd2 100644
--- a/core/math/basis.h
+++ b/core/math/basis.h
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -34,22 +34,18 @@
#include "core/math/quaternion.h"
#include "core/math/vector3.h"
-class Basis {
-private:
- void _set_diagonal(const Vector3 &p_diag);
-
-public:
- Vector3 elements[3] = {
+struct _NO_DISCARD_ Basis {
+ 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();
@@ -60,67 +56,51 @@ public:
_FORCE_INLINE_ real_t determinant() const;
- void from_z(const Vector3 &p_z);
+ enum EulerOrder {
+ EULER_ORDER_XYZ,
+ EULER_ORDER_XZY,
+ EULER_ORDER_YXZ,
+ EULER_ORDER_YZX,
+ EULER_ORDER_ZXY,
+ EULER_ORDER_ZYX
+ };
- _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]);
- }
- _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;
- }
+ void from_z(const Vector3 &p_z);
- void rotate(const Vector3 &p_axis, real_t p_phi);
- Basis rotated(const Vector3 &p_axis, real_t p_phi) const;
+ void rotate(const Vector3 &p_axis, real_t p_angle);
+ Basis rotated(const Vector3 &p_axis, real_t p_angle) const;
- void rotate_local(const Vector3 &p_axis, real_t p_phi);
- Basis rotated_local(const Vector3 &p_axis, real_t p_phi) const;
+ void rotate_local(const Vector3 &p_axis, real_t p_angle);
+ Basis rotated_local(const Vector3 &p_axis, real_t p_angle) const;
- void rotate(const Vector3 &p_euler);
- Basis rotated(const Vector3 &p_euler) const;
+ void rotate(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ);
+ Basis rotated(const Vector3 &p_euler, EulerOrder p_order = EULER_ORDER_YXZ) const;
void rotate(const Quaternion &p_quaternion);
Basis rotated(const Quaternion &p_quaternion) const;
- 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;
Quaternion get_rotation_quaternion() const;
- Vector3 get_rotation() const { return get_rotation_euler(); };
void rotate_to_align(Vector3 p_start_direction, Vector3 p_end_direction);
Vector3 rotref_posscale_decomposition(Basis &rotref) const;
- Vector3 get_euler_xyz() const;
- void set_euler_xyz(const Vector3 &p_euler);
-
- Vector3 get_euler_xzy() const;
- void set_euler_xzy(const Vector3 &p_euler);
-
- 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 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;
+ }
Quaternion get_quaternion() const;
void set_quaternion(const Quaternion &p_quaternion);
- Vector3 get_euler() const { return get_euler_yxz(); }
- void set_euler(const Vector3 &p_euler) { set_euler_yxz(p_euler); }
-
void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const;
- void set_axis_angle(const Vector3 &p_axis, real_t p_phi);
+ void set_axis_angle(const Vector3 &p_axis, real_t p_angle);
void scale(const Vector3 &p_scale);
Basis scaled(const Vector3 &p_scale) const;
@@ -128,6 +108,9 @@ public:
void scale_local(const Vector3 &p_scale);
Basis scaled_local(const Vector3 &p_scale) const;
+ void scale_orthogonal(const Vector3 &p_scale);
+ Basis scaled_orthogonal(const Vector3 &p_scale) const;
+
void make_scale_uniform();
float get_uniform_scale() const;
@@ -135,19 +118,19 @@ public:
Vector3 get_scale_abs() const;
Vector3 get_scale_local() const;
- 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_axis_angle_scale(const Vector3 &p_axis, real_t p_angle, const Vector3 &p_scale);
+ void set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale, EulerOrder p_order = EULER_ORDER_YXZ);
void set_quaternion_scale(const Quaternion &p_quaternion, const Vector3 &p_scale);
// 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;
@@ -173,6 +156,7 @@ public:
bool is_diagonal() const;
bool is_rotation() const;
+ Basis lerp(const Basis &p_to, const real_t &p_weight) const;
Basis slerp(const Basis &p_to, const real_t &p_weight) const;
void rotate_sh(real_t *p_values);
@@ -181,55 +165,55 @@ public:
/* 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;
- }
- _FORCE_INLINE_ void set(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z) {
- set_axis(0, p_x);
- set_axis(1, p_y);
- set_axis(2, p_z);
+ 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_ Vector3 get_column(int i) const {
- return Vector3(elements[0][i], elements[1][i], elements[2][i]);
+ _FORCE_INLINE_ void set_columns(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z) {
+ set_column(0, p_x);
+ set_column(1, p_y);
+ set_column(2, p_z);
}
- _FORCE_INLINE_ Vector3 get_row(int i) const {
- return Vector3(elements[i][0], elements[i][1], elements[i][2]);
+ _FORCE_INLINE_ Vector3 get_column(int p_index) const {
+ // Get actual basis axis column (we store transposed as rows for performance).
+ return Vector3(rows[0][p_index], rows[1][p_index], rows[2][p_index]);
}
- _FORCE_INLINE_ Vector3 get_main_diagonal() const {
- return Vector3(elements[0][0], elements[1][1], elements[2][2]);
+
+ _FORCE_INLINE_ void set_column(int p_index, const Vector3 &p_value) {
+ // Set actual basis axis column (we store transposed as rows for performance).
+ rows[0][p_index] = p_value.x;
+ rows[1][p_index] = p_value.y;
+ rows[2][p_index] = p_value.z;
}
- _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;
+ _FORCE_INLINE_ Vector3 get_main_diagonal() const {
+ return Vector3(rows[0][0], rows[1][1], rows[2][2]);
}
_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);
@@ -238,6 +222,9 @@ public:
void orthonormalize();
Basis orthonormalized() const;
+ void orthogonalize();
+ Basis orthogonalized() const;
+
#ifdef MATH_CHECKS
bool is_symmetric() const;
#endif
@@ -250,40 +237,41 @@ public:
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_euler) { set_euler(p_euler); }
- Basis(const Vector3 &p_euler, const Vector3 &p_scale) { set_euler_scale(p_euler, 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); }
+ Basis(const Vector3 &p_axis, real_t p_angle) { set_axis_angle(p_axis, p_angle); }
+ Basis(const Vector3 &p_axis, real_t p_angle, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_angle, 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;
- elements[1] = row1;
- elements[2] = row2;
+ rows[0] = row0;
+ rows[1] = row1;
+ rows[2] = row2;
}
_FORCE_INLINE_ Basis() {}
+
+private:
+ // Helper method.
+ void _set_diagonal(const Vector3 &p_diag);
};
_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 {
@@ -293,9 +281,9 @@ _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 {
@@ -305,9 +293,9 @@ _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 {
@@ -318,21 +306,22 @@ _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 2025-02-09 16:25:31 +0000