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-rw-r--r--core/math/basis.h105
1 files changed, 58 insertions, 47 deletions
diff --git a/core/math/basis.h b/core/math/basis.h
index d870a6b099..709f2cb3cf 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) 2007-2022 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 */
@@ -31,12 +31,19 @@
#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 elements[3] = {
+ Vector3(1, 0, 0),
+ Vector3(0, 1, 0),
+ Vector3(0, 0, 1)
+ };
_FORCE_INLINE_ const Vector3 &operator[](int axis) const {
return elements[axis];
@@ -75,27 +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(); };
+ Quaternion get_rotation_quaternion() const;
- Vector3 rotref_posscale_decomposition(Basis &rotref) const;
+ void rotate_to_align(Vector3 p_start_direction, Vector3 p_end_direction);
- Vector3 get_euler_xyz() const;
- void set_euler_xyz(const Vector3 &p_euler);
- Vector3 get_euler_yxz() const;
- void set_euler_yxz(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);
@@ -106,6 +123,9 @@ 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;
@@ -115,7 +135,7 @@ 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 {
@@ -129,9 +149,6 @@ public:
}
bool is_equal_approx(const Basis &p_basis) const;
- // TODO: Break compatibility in 4.0 by getting rid of this so that it's only an instance method. See also TODO in variant_call.cpp
- bool is_equal_approx(const Basis &a, const Basis &b) const { return a.is_equal_approx(b); }
- bool is_equal_approx_ratio(const Basis &a, const Basis &b, real_t p_epsilon = UNIT_EPSILON) const;
bool operator==(const Basis &p_matrix) const;
bool operator!=(const Basis &p_matrix) const;
@@ -144,19 +161,18 @@ 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 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);
operator String() const;
@@ -221,19 +237,24 @@ public:
void orthonormalize();
Basis orthonormalized() const;
+ void orthogonalize();
+ Basis orthogonalized() const;
+
+#ifdef MATH_CHECKS
bool is_symmetric() const;
+#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;
@@ -241,17 +262,7 @@ public:
elements[2] = row2;
}
- _FORCE_INLINE_ Basis() {
- elements[0][0] = 1;
- elements[0][1] = 0;
- elements[0][2] = 0;
- elements[1][0] = 0;
- elements[1][1] = 1;
- elements[1][2] = 0;
- elements[2][0] = 0;
- elements[2][1] = 0;
- elements[2][2] = 1;
- }
+ _FORCE_INLINE_ Basis() {}
};
_FORCE_INLINE_ void Basis::operator*=(const Basis &p_matrix) {
@@ -292,13 +303,13 @@ _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;
@@ -320,7 +331,7 @@ 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 2025-04-18 10:53:12 +0000